Real-time preview of connectable objects in a physically-modeled virtual space

ABSTRACT

Virtual reality (VR), augmented reality (AR), and/or mixed reality (MR) systems may enable one or more users to connect two or more connectable objects together. These connectable objects may be real objects from the user&#39;s environment, virtual objects, or a combination thereof. A preview system may be included as a part of the VR, AR, and/or MR systems that provide a preview of the connection between the connectable objects prior to the user(s) connecting the connectable objects. The preview may include a representation of the connectable objects in a connected state along with an indication of whether the connected state is valid or invalid. The preview system may continuously physically model the connectable objects while simultaneously displaying a preview of the connection process to the user of the VR, AR, or MR system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.17/308,920, filed May 5, 2021, entitled “REAL-TIME PREVIEW OFCONNECTABLE OBJECTS IN A PHYSICALLY-MODELED VIRTUAL SPACE”. U.S.application Ser. No. 17/308,920 is continuation of U.S. application Ser.No. 16/508,197, filed Jul. 10, 2019, entitled “REAL-TIME PREVIEW OFCONNECTABLE OBJECTS IN A PHYSICALLY-MODELED VIRTUAL SPACE”. Thisapplication claims priority to U.S. application Ser. No. 17/308,920 andU.S. application Ser. No. 16/508,197, each of which is incorporatedherein by reference.

TECHNICAL FIELD

The present disclosure relates to virtual reality and augmented reality,including mixed reality, imaging and visualization systems and moreparticularly to systems and methods for previewing an outcome ofconnecting objects in virtual, augmented, or mixed reality.

BACKGROUND

Modern computing and display technologies have facilitated thedevelopment of systems for so called “virtual reality,” “augmentedreality,” and “mixed reality” experiences, wherein digitally reproducedimages are presented to a user in a manner such that they seem to be, ormay be perceived as, real. A virtual reality (VR) scenario typicallyinvolves presentation of computer-generated virtual image informationwithout transparency to other actual real-world visual input. Anaugmented reality (AR) scenario typically involves presentation ofvirtual image information as an augmentation to visualization of theactual world around the user. Mixed reality (MR) is a type of augmentedreality in which physical and virtual objects may co-exist and interactin real time. Systems and methods disclosed herein address variouschallenges related to VR, AR and MR technology.

SUMMARY

Certain virtual reality (VR), augmented reality (AR), and/or mixedreality (MR) systems may enable one or more users to connect two or moreconnectable objects together. These connectable objects may be realobjects from the user's environment, virtual objects, or a combinationthereof. Aspects of this disclosure relate to a preview system which maybe included as a part of the VR, AR, and/or MR systems that provide apreview of the connection between the connectable objects prior to theuser(s) connecting the connectable objects. The preview may include arepresentation of the connectable objects in a connected state alongwith an indication of whether the connected state is valid or invalid.The preview system may continuously physically model the connectableobjects while simultaneously displaying a preview of the connectionprocess to the user of the VR, AR, or MR system.

Details of one or more implementations of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages will becomeapparent from the description, the drawings, and the claims. Neitherthis summary nor the following detailed description purports to defineor limit the scope of the inventive subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

Details of one or more implementations of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages will becomeapparent from the description, the drawings, and the claims.

FIG. 1 depicts an illustration of a mixed reality scenario with certainvirtual reality objects, and certain physical objects viewed by aperson.

FIG. 2 schematically illustrates an example of a wearable system.

FIG. 3 schematically illustrates example components of a wearablesystem.

FIG. 4 schematically illustrates an example of a waveguide stack of awearable device for outputting image information to a user.

FIG. 5 is a process flow diagram of an example of a method forinteracting with a virtual user interface.

FIG. 6A is a block diagram of another example of a wearable system whichcan comprise a preview system for connectable objects.

FIG. 6B illustrates example components of a preview system forconnectable objects.

FIG. 7 is a block diagram of an example of a wearable system includingvarious inputs into the wearable system.

FIG. 8 is a process flow diagram of an example of a method of renderingvirtual content in relation to recognized objects.

FIG. 9 schematically illustrates an overall system view depictingmultiple wearable systems interacting with each other.

FIGS. 10A-10D are examples of views generated by a preview system forconnectable objects and provided to a user via a display.

FIG. 11 illustrates a flowchart of an example method that can beperformed to generate a preview of a connection between two connectableobjects.

Throughout the drawings, reference numbers may be re-used to indicatecorrespondence between referenced elements. The drawings are provided toillustrate example embodiments described herein and are not intended tolimit the scope of the disclosure.

DETAILED DESCRIPTION Overview

Certain virtual reality (VR), augmented reality (AR), and/or mixedreality (MR) systems may enable one or more users to connect two or moreconnectable objects together. These connectable objects may be realobjects from the user's environment, virtual objects, or a combinationthereof. Aspects of this disclosure relate to a preview system which maybe included as a part of the VR, AR, and/or MR systems that provide apreview of the connection between the connectable objects prior to theuser(s) connecting the connectable objects. The preview may include arepresentation of the connectable objects in a connected state alongwith an indication of whether the connected state is valid or invalid.The preview system may continuously physically model the connectableobjects while simultaneously displaying a preview of the connectionprocess to the user of the VR, AR, or MR system.

Examples of 3D Display of a Wearable System

A wearable system (also referred to herein as an AR system) can beconfigured to present two-dimensional (2D) or three-dimensional (3D)virtual images to a user. The images may be still images, frames of avideo, or a video, in combination or the like. At least a portion of thewearable system can be implemented on a wearable device that can presenta VR, AR, or MR environment, alone or in combination, for userinteraction. The wearable device can be used interchangeably as an ARdevice (ARD). Further, for the purpose of the present disclosure, theterm “AR” is used interchangeably with the term “MR”.

FIG. 1 depicts an illustration of a mixed reality scenario with certainvirtual reality objects, and certain physical objects viewed by aperson. In FIG. 1 , an MR scene 100 is depicted wherein a user of an MRtechnology sees a real-world park-like setting 110 featuring people,trees, buildings in the background, and a concrete platform 120. Inaddition to these items, the user of the MR technology also perceivesthat he “sees” a robot statue 130 standing upon the real-world platform120, and a cartoon-like avatar character 140 flying by which seems to bea personification of a bumble bee, even though these elements do notexist in the real world.

In order for the 3D display to produce a true sensation of depth, andmore specifically, a simulated sensation of surface depth, it may bedesirable for each point in the display's visual field to generate anaccommodative response corresponding to its virtual depth. If theaccommodative response to a display point does not correspond to thevirtual depth of that point, as determined by the binocular depth cuesof convergence and stereopsis, the human eye may experience anaccommodation conflict, resulting in unstable imaging, harmful eyestrain, headaches, and, in the absence of accommodation information,almost a complete lack of surface depth.

VR, AR, and MR experiences can be provided by display systems havingdisplays in which images corresponding to a plurality of depth planesare provided to a viewer. The images may be different for each depthplane (e.g., provide slightly different presentations of a scene orobject) and may be separately focused by the viewer's eyes, therebyhelping to provide the user with depth cues based on the accommodationof the eye required to bring into focus different image features for thescene located on different depth plane or based on observing differentimage features on different depth planes being out of focus. Asdiscussed elsewhere herein, such depth cues provide credible perceptionsof depth.

FIG. 2 illustrates an example of wearable system 200 which can beconfigured to provide an AR/VR/MR scene. The wearable system 200 canalso be referred to as the AR system 200. The wearable system 200includes a display 220, and various mechanical and electronic modulesand systems to support the functioning of display 220. The display 220may be coupled to a frame 230, which is wearable by a user, wearer, orviewer 210. The display 220 can be positioned in front of the eyes ofthe user 210. The display 220 can present AR/VR/MR content to a user.The display 220 can comprise a head mounted display (HMD) that is wornon the head of the user.

In some embodiments, a speaker 240 is coupled to the frame 230 andpositioned adjacent the ear canal of the user (in some embodiments,another speaker, not shown, is positioned adjacent the other ear canalof the user to provide for stereo/shapeable sound control). The display220 can include an audio sensor (e.g., a microphone) 232 for detectingan audio stream from the environment and capture ambient sound. In someembodiments, one or more other audio sensors, not shown, are positionedto provide stereo sound reception. Stereo sound reception can be used todetermine the location of a sound source. The wearable system 200 canperform voice or speech recognition on the audio stream.

The wearable system 200 can include an outward-facing imaging system 464(shown in FIG. 4 ) which observes the world in the environment aroundthe user. The wearable system 200 can also include an inward-facingimaging system 462 (shown in FIG. 4 ) which can track the eye movementsof the user. The inward-facing imaging system may track either one eye'smovements or both eyes' movements. The inward-facing imaging system 462may be attached to the frame 230 and may be in electrical communicationwith the processing modules 260 or 270, which may process imageinformation acquired by the inward-facing imaging system to determine,e.g., the pupil diameters or orientations of the eyes, eye movements oreye pose of the user 210. The inward-facing imaging system 462 mayinclude one or more cameras. For example, at least one camera may beused to image each eye. The images acquired by the cameras may be usedto determine pupil size or eye pose for each eye separately, therebyallowing presentation of image information to each eye to be dynamicallytailored to that eye.

As an example, the wearable system 200 can use the outward-facingimaging system 464 or the inward-facing imaging system 462 to acquireimages of a pose of the user. The images may be still images, frames ofa video, or a video.

The display 220 can be operatively coupled 250, such as by a wired leador wireless connectivity, to a local data processing module 260 whichmay be mounted in a variety of configurations, such as fixedly attachedto the frame 230, fixedly attached to a helmet or hat worn by the user,embedded in headphones, or otherwise removably attached to the user 210(e.g., in a backpack-style configuration, in a belt-coupling styleconfiguration).

The local processing and data module 260 may comprise a hardwareprocessor, as well as digital memory, such as non-volatile memory (e.g.,flash memory), both of which may be utilized to assist in theprocessing, caching, and storage of data. The data may include data a)captured from sensors (which may be, e.g., operatively coupled to theframe 230 or otherwise attached to the user 210), such as image capturedevices (e.g., cameras in the inward-facing imaging system or theoutward-facing imaging system), audio sensors (e.g., microphones),inertial measurement units (IMUs), accelerometers, compasses, globalpositioning system (GPS) units, radio devices, or gyroscopes; or b)acquired or processed using remote processing module 270 or remote datarepository 280, possibly for passage to the display 220 after suchprocessing or retrieval. The local processing and data module 260 may beoperatively coupled by communication links 262 or 264, such as via wiredor wireless communication links, to the remote processing module 270 orremote data repository 280 such that these remote modules are availableas resources to the local processing and data module 260. In addition,remote processing module 280 and remote data repository 280 may beoperatively coupled to each other.

In some embodiments, the remote processing module 270 may comprise oneor more processors configured to analyze and process data or imageinformation. In some embodiments, the remote data repository 280 maycomprise a digital data storage facility, which may be available throughthe internet or other networking configuration in a “cloud” resourceconfiguration. In some embodiments, all data is stored and allcomputations are performed in the local processing and data module,allowing fully autonomous use from a remote module

Example Components of a Wearable System

FIG. 3 schematically illustrates example components of a wearablesystem. FIG. 3 shows a wearable system 200 which can include a display220 and a frame 230. A blown-up view 202 schematically illustratesvarious components of the wearable system 200. In certain implements,one or more of the components illustrated in FIG. 3 can be part of thedisplay 220. The various components alone or in combination can collecta variety of data (such as e.g., audio or visual data) associated withthe user of the wearable system 200 or the user's environment. It shouldbe appreciated that other embodiments may have additional or fewercomponents depending on the application for which the wearable system isused. Nevertheless, FIG. 3 provides a basic idea of some of the variouscomponents and types of data that may be collected, analyzed, and storedthrough the wearable system.

FIG. 3 shows an example wearable system 200 which can include thedisplay 220. The display 220 can comprise a display lens 226 that may bemounted to a user's head or a housing or frame 230, which corresponds tothe frame 230. The display lens 226 may comprise one or more transparentmirrors positioned by the housing 230 in front of the user's eyes 302,304 and may be configured to bounce projected light 338 into the eyes302, 304 and facilitate beam shaping, while also allowing fortransmission of at least some light from the local environment. Thewavefront of the projected light beam 338 may be bent or focused tocoincide with a desired focal distance of the projected light. Asillustrated, two wide-field-of-view machine vision cameras 316 (alsoreferred to as world cameras) can be coupled to the housing 230 to imagethe environment around the user. These cameras 316 can be dual capturevisible light/non-visible (e.g., infrared) light cameras. The camerasmay be part of the outward-facing imaging system 464 shown in FIG. 4 .Image acquired by the world cameras 316 can be processed by the poseprocessor 336. For example, the pose processor 336 can implement one ormore object recognizers 708 (e.g., shown in FIG. 7 ) to identify a poseof a user or another person in the user's environment or to identify aphysical object in the user's environment.

With continued reference to FIG. 3 , a pair of scanned-lasershaped-wavefront (e.g., for depth) light projector modules with displaymirrors and optics configured to project light 338 into the eyes 302,304 are shown. The depicted view also shows two miniature infraredcameras 324 paired with infrared light (such as light emitting diodes“LED”s), which are configured to be able to track the eyes 302, 304 ofthe user to support rendering and user input. The cameras 324 may bepart of the inward-facing imaging system 462 shown in FIG. 4 . Thewearable system 200 can further feature a sensor assembly 339, which maycomprise X, Y, and Z axis accelerometer capability as well as a magneticcompass and X, Y, and Z axis gyro capability, preferably providing dataat a relatively high frequency, such as 200 Hz. The sensor assembly 339may be part of the IMU described with reference to FIG. 2A The depictedsystem 200 can also comprise a head pose processor 336, such as an ASIC(application specific integrated circuit), FPGA (field programmable gatearray), or ARM processor (advanced reduced-instruction-set machine),which may be configured to calculate real or near-real time user headpose from wide field of view image information output from the capturedevices 316. The head pose processor 336 can be a hardware processor andcan be implemented as part of the local processing and data module 260shown in FIG. 2A.

The wearable system can also include one or more depth sensors 234. Thedepth sensor 234 can be configured to measure the distance between anobject in an environment to a wearable device. The depth sensor 234 mayinclude a laser scanner (e.g., a lidar), an ultrasonic depth sensor, ora depth sensing camera. In certain implementations, where the cameras316 have depth sensing ability, the cameras 316 may also be consideredas depth sensors 234.

Also shown is a processor 332 configured to execute digital or analogprocessing to derive pose from the gyro, compass, or accelerometer datafrom the sensor assembly 339. The processor 332 may be part of the localprocessing and data module 260 shown in FIG. 2 . The wearable system 200as shown in FIG. 3 can also include a position system such as, e.g., aGPS 337 (global positioning system) to assist with pose and positioninganalyses. In addition, the GPS may further provide remotely-based (e.g.,cloud-based) information about the user's environment. This informationmay be used for recognizing objects or information in user'senvironment.

The wearable system may combine data acquired by the GPS 337 and aremote computing system (such as, e.g., the remote processing module270, another user's ARD, etc.) which can provide more information aboutthe user's environment. As one example, the wearable system candetermine the user's location based on GPS data and retrieve a world map(e.g., by communicating with a remote processing module 270) includingvirtual objects associated with the user's location. As another example,the wearable system 200 can monitor the environment using the worldcameras 316 (which may be part of the outward-facing imaging system 464shown in FIG. 4 ). Based on the images acquired by the world cameras316, the wearable system 200 can detect objects in the environment(e.g., by using one or more object recognizers 708 shown in FIG. 7 ).The wearable system can further use data acquired by the GPS 337 tointerpret the characters.

The wearable system 200 may also comprise a rendering engine 334 whichcan be configured to provide rendering information that is local to theuser to facilitate operation of the scanners and imaging into the eyesof the user, for the user's view of the world. The rendering engine 334may be implemented by a hardware processor (such as, e.g., a centralprocessing unit or a graphics processing unit). In some embodiments, therendering engine is part of the local processing and data module 260.The rendering engine 334 can be communicatively coupled (e.g., via wiredor wireless links) to other components of the wearable system 200. Forexample, the rendering engine 334, can be coupled to the eye cameras 324via communication link 274, and be coupled to a projecting subsystem 318(which can project light into user's eyes 302, 304 via a scanned laserarrangement in a manner similar to a retinal scanning display) via thecommunication link 272. The rendering engine 334 can also be incommunication with other processing units such as, e.g., the sensor poseprocessor 332 and the image pose processor 336 via links 276 and 294respectively.

The cameras 324 (e.g., mini infrared cameras) may be utilized to trackthe eye pose to support rendering and user input. Some example eye posesmay include where the user is looking or at what depth he or she isfocusing (which may be estimated with eye vergence). The GPS 337, gyros,compass, and accelerometers 339 may be utilized to provide coarse orfast pose estimates. One or more of the cameras 316 can acquire imagesand pose, which in conjunction with data from an associated cloudcomputing resource, may be utilized to map the local environment andshare user views with others.

The example components depicted in FIG. 3 are for illustration purposesonly. Multiple sensors and other functional modules are shown togetherfor ease of illustration and description. Some embodiments may includeonly one or a subset of these sensors or modules. Further, the locationsof these components are not limited to the positions depicted in FIG. 3. Some components may be mounted to or housed within other components,such as a belt-mounted component, a hand-held component, or a helmetcomponent. As one example, the image pose processor 336, sensor poseprocessor 332, and rendering engine 334 may be positioned in a beltpackand configured to communicate with other components of the wearablesystem via wireless communication, such as ultra-wideband, Wi-Fi,Bluetooth, etc., or via wired communication. The depicted housing 230preferably is head-mountable and wearable by the user. However, somecomponents of the wearable system 200 may be worn to other portions ofthe user's body. For example, the speaker 240 may be inserted into theears of a user to provide sound to the user.

Regarding the projection of light 338 into the eyes 302, 304 of theuser, in some embodiment, the cameras 324 may be utilized to measurewhere the centers of a user's eyes are geometrically verged to, which,in general, coincides with a position of focus, or “depth of focus”, ofthe eyes. A 3-dimensional surface of all points the eyes verge to can bereferred to as the “horopter”. The focal distance may take on a finitenumber of depths, or may be infinitely varying. Light projected from thevergence distance appears to be focused to the subject eye 302, 304,while light in front of or behind the vergence distance is blurred.Examples of wearable devices and other display systems of the presentdisclosure are also described in U.S. Patent Publication No.2016/0270656, which is incorporated by reference herein in its entirety.

The human visual system is complicated and providing a realisticperception of depth is challenging. Viewers of an object may perceivethe object as being three-dimensional due to a combination of vergenceand accommodation. Vergence movements (e.g., rolling movements of thepupils toward or away from each other to converge the lines of sight ofthe eyes to fixate upon an object) of the two eyes relative to eachother are closely associated with focusing (or “accommodation”) of thelenses of the eyes. Under normal conditions, changing the focus of thelenses of the eyes, or accommodating the eyes, to change focus from oneobject to another object at a different distance will automaticallycause a matching change in vergence to the same distance, under arelationship known as the “accommodation-vergence reflex.” Likewise, achange in vergence will trigger a matching change in accommodation,under normal conditions. Display systems that provide a better matchbetween accommodation and vergence may form more realistic andcomfortable simulations of three-dimensional imagery.

Further spatially coherent light with a beam diameter of less than about0.7 millimeters can be correctly resolved by the human eye regardless ofwhere the eye focuses. Thus, to create an illusion of proper focaldepth, the eye vergence may be tracked with the cameras 324, and therendering engine 334 and projection subsystem 318 may be utilized torender all objects on or close to the horopter in focus, and all otherobjects at varying degrees of defocus (e.g., using intentionally-createdblurring). Preferably, the system 220 renders to the user at a framerate of about 60 frames per second or greater. As described above,preferably, the cameras 324 may be utilized for eye tracking, andsoftware may be configured to pick up not only vergence geometry butalso focus location cues to serve as user inputs. Preferably, such adisplay system is configured with brightness and contrast suitable forday or night use.

In some embodiments, the display system preferably has latency of lessthan about 20 milliseconds for visual object alignment, less than about0.1 degree of angular alignment, and about 1 arc minute of resolution,which, without being limited by theory, is believed to be approximatelythe limit of the human eye. The display system 220 may be integratedwith a localization system, which may involve GPS elements, opticaltracking, compass, accelerometers, or other data sources, to assist withposition and pose determination; localization information may beutilized to facilitate accurate rendering in the user's view of thepertinent world (e.g., such information would facilitate the glasses toknow where they are with respect to the real world).

In some embodiments, the wearable system 200 is configured to displayone or more virtual images based on the accommodation of the user'seyes. Unlike prior 3D display approaches that force the user to focuswhere the images are being projected, in some embodiments, the wearablesystem is configured to automatically vary the focus of projectedvirtual content to allow for a more comfortable viewing of one or moreimages presented to the user. For example, if the user's eyes have acurrent focus of 1 m, the image may be projected to coincide with theuser's focus. If the user shifts focus to 3 m, the image is projected tocoincide with the new focus. Thus, rather than forcing the user to apredetermined focus, the wearable system 200 of some embodiments allowsthe user's eye to a function in a more natural manner.

Such a wearable system 200 may eliminate or reduce the incidences of eyestrain, headaches, and other physiological symptoms typically observedwith respect to virtual reality devices. To achieve this, variousembodiments of the wearable system 200 are configured to project virtualimages at varying focal distances, through one or more variable focuselements (VFEs). In one or more embodiments, 3D perception may beachieved through a multi-plane focus system that projects images atfixed focal planes away from the user. Other embodiments employ variableplane focus, wherein the focal plane is moved back and forth in thez-direction to coincide with the user's present state of focus.

In both the multi-plane focus systems and variable plane focus systems,wearable system 200 may employ eye tracking to determine a vergence ofthe user's eyes, determine the user's current focus, and project thevirtual image at the determined focus. In other embodiments, wearablesystem 200 comprises a light modulator that variably projects, through afiber scanner, or other light generating source, light beams of varyingfocus in a raster pattern across the retina. Thus, the ability of thedisplay of the wearable system 200 to project images at varying focaldistances not only eases accommodation for the user to view objects in3D, but may also be used to compensate for user ocular anomalies, asfurther described in U.S. Patent Publication No. 2016/0270656, which isincorporated by reference herein in its entirety. In some otherembodiments, a spatial light modulator may project the images to theuser through various optical components. For example, as describedfurther below, the spatial light modulator may project the images ontoone or more waveguides, which then transmit the images to the user.

Waveguide Stack Assembly

FIG. 4 illustrates an example of a waveguide stack for outputting imageinformation to a user. A wearable system 400 includes a stack ofwaveguides, or stacked waveguide assembly 480 that may be utilized toprovide three-dimensional perception to the eye/brain using a pluralityof waveguides 432 b, 434 b, 436 b, 438 b, 4400 b. In some embodiments,the wearable system 400 may correspond to wearable system 200 of FIG. 2, with FIG. 4 schematically showing some parts of that wearable system200 in greater detail. For example, in some embodiments, the waveguideassembly 480 may be integrated into the display 220 of FIG. 2 .

With continued reference to FIG. 4 , the waveguide assembly 480 may alsoinclude a plurality of features 458, 456, 454, 452 between thewaveguides. In some embodiments, the features 458, 456, 454, 452 may belenses. In other embodiments, the features 458, 456, 454, 452 may not belenses. Rather, they may simply be spacers (e.g., cladding layers orstructures for forming air gaps).

The waveguides 432 b, 434 b, 436 b, 438 b, 440 b or the plurality oflenses 458, 456, 454, 452 may be configured to send image information tothe eye with various levels of wavefront curvature or light raydivergence. Each waveguide level may be associated with a particulardepth plane and may be configured to output image informationcorresponding to that depth plane. Image injection devices 420, 422,424, 426, 428 may be utilized to inject image information into thewaveguides 440 b, 438 b, 436 b, 434 b, 432 b, each of which may beconfigured to distribute incoming light across each respectivewaveguide, for output toward the eye 410. Light exits an output surfaceof the image injection devices 420, 422, 424, 426, 428 and is injectedinto a corresponding input edge of the waveguides 440 b, 438 b, 436 b,434 b, 432 b. In some embodiments, a single beam of light (e.g., acollimated beam) may be injected into each waveguide to output an entirefield of cloned collimated beams that are directed toward the eye 410 atparticular angles (and amounts of divergence) corresponding to the depthplane associated with a particular waveguide.

In some embodiments, the image injection devices 420, 422, 424, 426, 428are discrete displays that each produce image information for injectioninto a corresponding waveguide 440 b, 438 b, 436 b, 434 b, 432 b,respectively. In some other embodiments, the image injection devices420, 422, 424, 426, 428 are the output ends of a single multiplexeddisplay which may, e.g., pipe image information via one or more opticalconduits (such as fiber optic cables) to each of the image injectiondevices 420, 422, 424, 426, 428.

A controller 460 controls the operation of the stacked waveguideassembly 480 and the image injection devices 420, 422, 424, 426, 428.The controller 460 includes programming (e.g., instructions in anon-transitory computer-readable medium) that regulates the timing andprovision of image information to the waveguides 440 b, 438 b, 436 b,434 b, 432 b. In some embodiments, the controller 460 may be a singleintegral device, or a distributed system connected by wired or wirelesscommunication channels. The controller 460 may be part of the processingmodules 260 or 270 (illustrated in FIG. 2 ) in some embodiments.

The waveguides 440 b, 438 b, 436 b, 434 b, 432 b may be configured topropagate light within each respective waveguide by total internalreflection (TIR). The waveguides 440 b, 438 b, 436 b, 434 b, 432 b mayeach be planar or have another shape (e.g., curved), with major top andbottom surfaces and edges extending between those major top and bottomsurfaces. In the illustrated configuration, the waveguides 440 b, 438 b,436 b, 434 b, 432 b may each include light extracting optical elements440 a, 438 a, 436 a, 434 a, 432 a that are configured to extract lightout of a waveguide by redirecting the light, propagating within eachrespective waveguide, out of the waveguide to output image informationto the eye 410. Extracted light may also be referred to as outcoupledlight, and light extracting optical elements may also be referred to asoutcoupling optical elements. An extracted beam of light is outputted bythe waveguide at locations at which the light propagating in thewaveguide strikes a light redirecting element. The light extractingoptical elements (440 a, 438 a, 436 a, 434 a, 432 a) may, for example,be reflective or diffractive optical features. While illustrateddisposed at the bottom major surfaces of the waveguides 440 b, 438 b,436 b, 434 b, 432 b for ease of description and drawing clarity, in someembodiments, the light extracting optical elements 440 a, 438 a, 436 a,434 a, 432 a may be disposed at the top or bottom major surfaces, or maybe disposed directly in the volume of the waveguides 440 b, 438 b, 436b, 434 b, 432 b. In some embodiments, the light extracting opticalelements 440 a, 438 a, 436 a, 434 a, 432 a may be formed in a layer ofmaterial that is attached to a transparent substrate to form thewaveguides 440 b, 438 b, 436 b, 434 b, 432 b. In some other embodiments,the waveguides 440 b, 438 b, 436 b, 434 b, 432 b may be a monolithicpiece of material and the light extracting optical elements 440 a, 438a, 436 a, 434 a, 432 a may be formed on a surface or in the interior ofthat piece of material.

With continued reference to FIG. 4 , as discussed herein, each waveguide440 b, 438 b, 436 b, 434 b, 432 b is configured to output light to forman image corresponding to a particular depth plane. For example, thewaveguide 432 b nearest the eye may be configured to deliver collimatedlight, as injected into such waveguide 432 b, to the eye 410. Thecollimated light may be representative of the optical infinity focalplane. The next waveguide up 434 b may be configured to send outcollimated light which passes through the first lens 452 (e.g., anegative lens) before it can reach the eye 410. First lens 452 may beconfigured to create a slight convex wavefront curvature so that theeye/brain interprets light coming from that next waveguide up 434 b ascoming from a first focal plane closer inward toward the eye 410 fromoptical infinity. Similarly, the third up waveguide 436 b passes itsoutput light through both the first lens 452 and second lens 454 beforereaching the eye 410. The combined optical power of the first and secondlenses 452 and 454 may be configured to create another incrementalamount of wavefront curvature so that the eye/brain interprets lightcoming from the third waveguide 436 b as coming from a second focalplane that is even closer inward toward the person from optical infinitythan was light from the next waveguide up 434 b.

The other waveguide layers (e.g., waveguides 438 b, 440 b) and lenses(e.g., lenses 456, 458) are similarly configured, with the highestwaveguide 440 b in the stack sending its output through all of thelenses between it and the eye for an aggregate focal powerrepresentative of the closest focal plane to the person. To compensatefor the stack of lenses 458, 456, 454, 452 when viewing/interpretinglight coming from the world 470 on the other side of the stackedwaveguide assembly 480, a compensating lens layer 430 may be disposed atthe top of the stack to compensate for the aggregate power of the lensstack 458, 456, 454, 452 below. Such a configuration provides as manyperceived focal planes as there are available waveguide/lens pairings.Both the light extracting optical elements of the waveguides and thefocusing aspects of the lenses may be static (e.g., not dynamic orelectro-active). In some alternative embodiments, either or both may bedynamic using electro-active features.

With continued reference to FIG. 4 , the light extracting opticalelements 440 a, 438 a, 436 a, 434 a, 432 a may be configured to bothredirect light out of their respective waveguides and to output thislight with the appropriate amount of divergence or collimation for aparticular depth plane associated with the waveguide. As a result,waveguides having different associated depth planes may have differentconfigurations of light extracting optical elements, which output lightwith a different amount of divergence depending on the associated depthplane. In some embodiments, as discussed herein, the light extractingoptical elements 440 a, 438 a, 436 a, 434 a, 432 a may be volumetric orsurface features, which may be configured to output light at specificangles. For example, the light extracting optical elements 440 a, 438 a,436 a, 434 a, 432 a may be volume holograms, surface holograms, and/ordiffraction gratings. Light extracting optical elements, such asdiffraction gratings, are described in U.S. Patent Publication No.2015/0178939, published Jun. 25, 2015, which is incorporated byreference herein in its entirety.

In some embodiments, the light extracting optical elements 440 a, 438 a,436 a, 434 a, 432 a are diffractive features that form a diffractionpattern, or “diffractive optical element” (also referred to herein as a“DOE”). Preferably, the DOE has a relatively low diffraction efficiencyso that only a portion of the light of the beam is deflected away towardthe eye 410 with each intersection of the DOE, while the rest continuesto move through a waveguide via total internal reflection. The lightcarrying the image information can thus be divided into a number ofrelated exit beams that exit the waveguide at a multiplicity oflocations and the result is a fairly uniform pattern of exit emissiontoward the eye 304 for this particular collimated beam bouncing aroundwithin a waveguide.

In some embodiments, one or more DOEs may be switchable between “on”state in which they actively diffract, and “off” state in which they donot significantly diffract. For instance, a switchable DOE may comprisea layer of polymer dispersed liquid crystal, in which microdropletscomprise a diffraction pattern in a host medium, and the refractiveindex of the microdroplets can be switched to substantially match therefractive index of the host material (in which case the pattern doesnot appreciably diffract incident light) or the microdroplet can beswitched to an index that does not match that of the host medium (inwhich case the pattern actively diffracts incident light).

In some embodiments, the number and distribution of depth planes ordepth of field may be varied dynamically based on the pupil sizes ororientations of the eyes of the viewer. Depth of field may changeinversely with a viewer's pupil size. As a result, as the sizes of thepupils of the viewer's eyes decrease, the depth of field increases suchthat one plane that is not discernible because the location of thatplane is beyond the depth of focus of the eye may become discernible andappear more in focus with reduction of pupil size and commensurate withthe increase in depth of field. Likewise, the number of spaced apartdepth planes used to present different images to the viewer may bedecreased with the decreased pupil size. For example, a viewer may notbe able to clearly perceive the details of both a first depth plane anda second depth plane at one pupil size without adjusting theaccommodation of the eye away from one depth plane and to the otherdepth plane. These two depth planes may, however, be sufficiently infocus at the same time to the user at another pupil size withoutchanging accommodation.

In some embodiments, the display system may vary the number ofwaveguides receiving image information based upon determinations ofpupil size or orientation, or upon receiving electrical signalsindicative of particular pupil size or orientation. For example, if theuser's eyes are unable to distinguish between two depth planesassociated with two waveguides, then the controller 460 (which may be anembodiment of the local processing and data module 260) can beconfigured or programmed to cease providing image information to one ofthese waveguides. Advantageously, this may reduce the processing burdenon the system, thereby increasing the responsiveness of the system. Inembodiments in which the DOEs for a waveguide are switchable between theon and off states, the DOEs may be switched to the off state when thewaveguide does receive image information.

In some embodiments, it may be desirable to have an exit beam meet thecondition of having a diameter that is less than the diameter of the eyeof a viewer. However, meeting this condition may be challenging in viewof the variability in size of the viewer's pupils. In some embodiments,this condition is met over a wide range of pupil sizes by varying thesize of the exit beam in response to determinations of the size of theviewer's pupil. For example, as the pupil size decreases, the size ofthe exit beam may also decrease. In some embodiments, the exit beam sizemay be varied using a variable aperture.

The wearable system 400 can include an outward-facing imaging system 464(e.g., a digital camera) that images a portion of the world 470. Thisportion of the world 470 may be referred to as the field of view (FOV)of a world camera and the imaging system 464 is sometimes referred to asan FOV camera. The FOV of the world camera may or may not be the same asthe FOV of a viewer 210 which encompasses a portion of the world 470 theviewer 210 perceives at a given time. For example, in some situations,the FOV of the world camera may be larger than the viewer 210 of theviewer 210 of the wearable system 400. The entire region available forviewing or imaging by a viewer may be referred to as the field of regard(FOR). The FOR may include 4π steradians of solid angle surrounding thewearable system because the wearer can move his body, head, or eyes toperceive substantially any direction in space. In other contexts, thewearer's movements may be more constricted, and accordingly the wearer'sFOR may subtend a smaller solid angle. Images obtained from theoutward-facing imaging system 464 can be used to track gestures made bythe user (e.g., hand or finger gestures), detect objects in the world infront of the user, and so forth.

The wearable system 400 can include an audio sensor 232, e.g., amicrophone, to capture ambient sound. As described above, in someembodiments, one or more other audio sensors can be positioned toprovide stereo sound reception useful to the determination of locationof a speech source. The audio sensor 232 can comprise a directionalmicrophone, as another example, which can also provide such usefuldirectional information as to where the audio source is located. Thewearable system 400 can use information from both the outward-facingimaging system 464 and the audio sensor 230 in locating a source ofspeech, or to determine an active speaker at a particular moment intime, etc. For example, the wearable system 400 can use the voicerecognition alone or in combination with a reflected image of thespeaker (e.g., as seen in a mirror) to determine the identity of thespeaker. As another example, the wearable system 400 can determine aposition of the speaker in an environment based on sound acquired fromdirectional microphones. The wearable system 400 can parse the soundcoming from the speaker's position with speech recognition algorithms todetermine the content of the speech and use voice recognition techniquesto determine the identity (e.g., name or other demographic information)of the speaker.

The wearable system 400 can also include an inward-facing imaging system466 (e.g., a digital camera), which observes the movements of the user,such as the eye movements and the facial movements. The inward-facingimaging system 466 may be used to capture images of the eye 410 todetermine the size and/or orientation of the pupil of the eye 304. Theinward-facing imaging system 466 can be used to obtain images for use indetermining the direction the user is looking (e.g., eye pose) or forbiometric identification of the user (e.g., via iris identification). Insome embodiments, at least one camera may be utilized for each eye, toseparately determine the pupil size or eye pose of each eyeindependently, thereby allowing the presentation of image information toeach eye to be dynamically tailored to that eye. In some otherembodiments, the pupil diameter or orientation of only a single eye 410(e.g., using only a single camera per pair of eyes) is determined andassumed to be similar for both eyes of the user. The images obtained bythe inward-facing imaging system 466 may be analyzed to determine theuser's eye pose or mood, which can be used by the wearable system 400 todecide which audio or visual content should be presented to the user.The wearable system 400 may also determine head pose (e.g., headposition or head orientation) using sensors such as IMUs,accelerometers, gyroscopes, etc.

The wearable system 400 can include a user input device 466 by which theuser can input commands to the controller 460 to interact with thewearable system 400. For example, the user input device 466 can includea trackpad, a touchscreen, a joystick, a multiple degree-of-freedom(DOF) controller, a capacitive sensing device, a game controller, akeyboard, a mouse, a directional pad (D-pad), a wand, a haptic device, atotem (e.g., functioning as a virtual user input device), an outwardfacing camera configured to detect gestures of a user, and so forth. Theuser input device 466 can include an electromyographic (EMG) sensor tosense electrical activity from skeletal muscles, for example, to measurea user's intent to move his or her fingers or arm. A multi-DOFcontroller can sense user input in some or all possible translations(e.g., left/right, forward/backward, or up/down) or rotations (e.g.,yaw, pitch, or roll) of the controller. A multi-DOF controller whichsupports the translation movements may be referred to as a 3DOF while amulti-DOF controller which supports the translations and rotations maybe referred to as 6DOF. In some cases, the user may use a finger (e.g.,a thumb) to press or swipe on a touch-sensitive input device to provideinput to the wearable system 400 (e.g., to provide user input to a userinterface provided by the wearable system 400). The user input device466 may be held by the user's hand during the use of the wearable system400. The user input device 466 can be in wired or wireless communicationwith the wearable system 400.

Other Components of the Wearable System

In many implementations, the wearable system may include othercomponents in addition or in alternative to the components of thewearable system described above. The wearable system may, for example,include one or more haptic devices or components. The haptic devices orcomponents may be operable to provide a tactile sensation to a user. Forexample, the haptic devices or components may provide a tactilesensation of pressure or texture when touching virtual content (e.g.,virtual objects, virtual tools, other virtual constructs). The tactilesensation may replicate a feel of a physical object which a virtualobject represents, or may replicate a feel of an imagined object orcharacter (e.g., a dragon) which the virtual content represents. In someimplementations, haptic devices or components may be worn by the user(e.g., a user wearable glove). In some implementations, haptic devicesor components may be held by the user.

The wearable system may, for example, include one or more physicalobjects which are manipulable by the user to allow input or interactionwith the wearable system. These physical objects may be referred toherein as totems. Some totems may take the form of inanimate objects,such as for example, a piece of metal or plastic, a wall, a surface oftable. In certain implementations, the totems may not actually have anyphysical input structures (e.g., keys, triggers, joystick, trackball,rocker switch). Instead, the totem may simply provide a physicalsurface, and the wearable system may render a user interface so as toappear to a user to be on one or more surfaces of the totem. Forexample, the wearable system may render an image of a computer keyboardand trackpad to appear to reside on one or more surfaces of a totem. Forexample, the wearable system may render a virtual computer keyboard andvirtual trackpad to appear on a surface of a thin rectangular plate ofaluminum which serves as a totem. The rectangular plate does not itselfhave any physical keys or trackpad or sensors. However, the wearablesystem may detect user manipulation or interaction or touches with therectangular plate as selections or inputs made via the virtual keyboardor virtual trackpad. The user input device 466 (shown in FIG. 4 ) may bean embodiment of a totem, which may include a trackpad, a touchpad, atrigger, a joystick, a trackball, a rocker or virtual switch, a mouse, akeyboard, a multi-degree-of-freedom controller, or another physicalinput device. A user may use the totem, alone or in combination withposes, to interact with the wearable system or other users.

Examples of haptic devices and totems usable with the wearable devices,HMD, and display systems of the present disclosure are described in U.S.Patent Publication No. 2015/0016777, which is incorporated by referenceherein in its entirety.

Example Processes of User Interactions with a Wearable System

FIG. 5 is a process flow diagram of an example of a method 500 forinteracting with a virtual user interface. The method 500 may beperformed by the wearable system described herein. Embodiments of themethod 500 can be used by the wearable system to detect persons ordocuments in the FOV of the wearable system.

At block 510, the wearable system may identify a particular UI. The typeof UI may be predetermined by the user. The wearable system may identifythat a particular UI needs to be populated based on a user input (e.g.,gesture, visual data, audio data, sensory data, direct command, etc.).The UI can be specific to a security scenario where the wearer of thesystem is observing users who present documents to the wearer (e.g., ata travel checkpoint). At block 520, the wearable system may generatedata for the virtual UI. For example, data associated with the confines,general structure, shape of the UI etc., may be generated. In addition,the wearable system may determine map coordinates of the user's physicallocation so that the wearable system can display the UI in relation tothe user's physical location. For example, if the UI is body centric,the wearable system may determine the coordinates of the user's physicalstance, head pose, or eye pose such that a ring UI can be displayedaround the user or a planar UI can be displayed on a wall or in front ofthe user. In the security context described herein, the UI may bedisplayed as if the UI were surrounding the traveler who is presentingdocuments to the wearer of the system, so that the wearer can readilyview the UI while looking at the traveler and the traveler's documents.If the UI is hand centric, the map coordinates of the user's hands maybe determined. These map points may be derived through data receivedthrough the FOV cameras, sensory input, or any other type of collecteddata.

At block 530, the wearable system may send the data to the display fromthe cloud or the data may be sent from a local database to the displaycomponents. At block 540, the UI is displayed to the user based on thesent data. For example, a light field display can project the virtual UIinto one or both of the user's eyes. Once the virtual UI has beencreated, the wearable system may simply wait for a command from the userto generate more virtual content on the virtual UI at block 550. Forexample, the UI may be a body centric ring around the user's body or thebody of a person in the user's environment (e.g., a traveler). Thewearable system may then wait for the command (a gesture, a head or eyemovement, voice command, input from a user input device, etc.), and ifit is recognized (block 560), virtual content associated with thecommand may be displayed to the user (block 570).

Examples of Preview System for Connectable Objects

A wearable system may employ various mapping related techniques in orderto achieve high depth of field in the rendered light fields. In mappingout the virtual world, it is advantageous to know all the features andpoints in the real world to accurately portray virtual objects inrelation to the real world. To this end, FOV images captured from usersof the wearable system can be added to a world model by including newpictures that convey information about various points and features ofthe real world. For example, the wearable system can collect a set ofmap points (such as 2D points or 3D points) and find new map points torender a more accurate version of the world model. The world model of afirst user can be communicated (e.g., over a network such as a cloudnetwork) to a second user so that the second user can experience theworld surrounding the first user.

FIG. 6A is a block diagram of another example of a wearable system whichcan comprise a preview system 690 for connectable objects in a mixedreality environment. The wearable system 600 may be part of the wearablesystem 200 shown in FIG. 2 . In this example, the wearable system 600can comprise a map 620, which may include at least a portion of the datain the map database 710 (shown in FIG. 7 ). The map may partly residelocally on the wearable system, and may partly reside at networkedstorage locations accessible by wired or wireless network (e.g., in acloud system). A pose process 610 may be executed on the wearablecomputing architecture (e.g., processing module 260 or controller 460)and utilize data from the map 620 to determine position and orientationof the wearable computing hardware or user. Pose data may be computedfrom data collected on the fly as the user is experiencing the systemand operating in the world. The data may comprise images, data fromsensors (such as inertial measurement units, which generally compriseaccelerometer and gyroscope components) and surface informationpertinent to objects in the real or virtual environment.

A sparse point representation may be the output of a simultaneouslocalization and mapping (e.g., SLAM or vSLAM, referring to aconfiguration wherein the input is images/visual only) process. Thesystem can be configured to not only find out where in the world thevarious components are, but what the world is made of. Pose may be abuilding block that achieves many goals, including populating the mapand using the data from the map.

In one embodiment, a sparse point position may not be completelyadequate on its own, and further information may be needed to produce amultifocal AR, VR, or MR experience. Dense representations, generallyreferring to depth map information, may be utilized to fill this gap atleast in part. Such information may be computed from a process referredto as Stereo 640, wherein depth information is determined using atechnique such as triangulation or time-of-flight sensing. Imageinformation and active patterns (such as infrared patterns created usingactive projectors), images acquired from image cameras, or handgestures/totem 650 may serve as input to the Stereo process 640. Asignificant amount of depth map information may be fused together, andsome of this may be summarized with a surface representation. Forexample, mathematically definable surfaces may be efficient (e.g.,relative to a large point cloud) and digestible inputs to otherprocessing devices like game engines. Thus, the output of the stereoprocess (e.g., a depth map) 640 may be combined in the fusion process630. Pose 610 may be an input to this fusion process 630 as well, andthe output of fusion 630 becomes an input to populating the map process620. Sub-surfaces may connect with each other, such as in topographicalmapping, to form larger surfaces, and the map becomes a large hybrid ofpoints and surfaces.

To resolve various aspects in a mixed reality process 660, variousinputs may be utilized. For example, in the embodiment depicted in FIG.6A, Game parameters may be inputs to determine that the user of thesystem is playing a monster battling game with one or more monsters atvarious locations, monsters dying or running away under variousconditions (such as if the user shoots the monster), walls or otherobjects at various locations, and the like. The world map may includeinformation regarding the location of the objects or semanticinformation of the objects (e.g., classifications such as whether theobject is flat or round, horizontal or vertical, a table or a lamp,etc.) and the world map can be another valuable input to mixed reality.Pose relative to the world becomes an input as well and plays a key roleto almost any interactive system.

Controls or inputs from the user are another input to the wearablesystem 600. As described herein, user inputs can include visual input,gestures, totems, audio input, sensory input, etc. In order to movearound or play a game, for example, the user may need to instruct thewearable system 600 regarding what he or she wants to do. Beyond justmoving oneself in space, there are various forms of user controls thatmay be utilized. In one embodiment, a totem (e.g. a user input device),or an object such as a toy gun may be held by the user and tracked bythe system. The system preferably will be configured to know that theuser is holding the item and understand what kind of interaction theuser is having with the item (e.g., if the totem or object is a gun, thesystem may be configured to understand location and orientation, as wellas whether the user is clicking a trigger or other sensed button orelement which may be equipped with a sensor, such as an IMU, which mayassist in determining what is going on, even when such activity is notwithin the field of view of any of the cameras.).

Hand gesture tracking or recognition may also provide input information.The wearable system 600 may be configured to track and interpret handgestures for button presses, for gesturing left or right, stop, grab,hold, etc. For example, in one configuration, the user may want to flipthrough emails or a calendar in a non-gaming environment, or do a “fistbump” with another person or player. The wearable system 600 may beconfigured to leverage a minimum amount of hand gesture, which may ormay not be dynamic. For example, the gestures may be simple staticgestures like open hand for stop, thumbs up for ok, thumbs down for notok; or a hand flip right, or left, or up/down for directional commands.

Eye tracking is another input (e.g., tracking where the user is lookingto control the display technology to render at a specific depth orrange). In one embodiment, vergence of the eyes may be determined usingtriangulation, and then using a vergence/accommodation model developedfor that particular person, accommodation may be determined. Eyetracking can be performed by the eye camera(s) to determine eye gaze(e.g., direction or orientation of one or both eyes). Other techniquescan be used for eye tracking such as, e.g., measurement of electricalpotentials by electrodes placed near the eye(s) (e.g.,electrooculography).

Speech tracking can be another input can be used alone or in combinationwith other inputs (e.g., totem tracking, eye tracking, gesture tracking,etc.). Speech tracking may include speech recognition, voicerecognition, alone or in combination. The system 600 can include anaudio sensor (e.g., a microphone) that receives an audio stream from theenvironment. The system 600 can incorporate voice recognition technologyto determine who is speaking (e.g., whether the speech is from thewearer of the ARD or another person or voice (e.g., a recorded voicetransmitted by a loudspeaker in the environment)) as well as speechrecognition technology to determine what is being said. The local data &processing module 260 or the remote processing module 270 can processthe audio data from the microphone (or audio data in another stream suchas, e.g., a video stream being watched by the user) to identify contentof the speech by applying various speech recognition algorithms, suchas, e.g., hidden Markov models, dynamic time warping (DTW)-based speechrecognitions, neural networks, deep learning algorithms such as deepfeedforward and recurrent neural networks, end-to-end automatic speechrecognitions, machine learning algorithms (described with reference toFIG. 7 ), or other algorithms that uses acoustic modeling or languagemodeling, etc.

The local data & processing module 260 or the remote processing module270 can also apply voice recognition algorithms which can identify theidentity of the speaker, such as whether the speaker is the user 210 ofthe wearable system 600 or another person with whom the user isconversing. Some example voice recognition algorithms can includefrequency estimation, hidden Markov models, Gaussian mixture models,pattern matching algorithms, neural networks, matrix representation,Vector Quantization, speaker diarisation, decision trees, and dynamictime warping (DTW) technique. Voice recognition techniques can alsoinclude anti-speaker techniques, such as cohort models, and worldmodels. Spectral features may be used in representing speakercharacteristics. The local data & processing module or the remote dataprocessing module 270 can use various machine learning algorithmsdescribed with reference to FIG. 7 to perform the voice recognition.

An implementation of a wearable system can use these user controls orinputs via a UI. UI elements (e.g., controls, popup windows, bubbles,data entry fields, etc.) can be used, for example, to dismiss a displayof information, e.g., graphics or semantic information of an object.

With regard to the camera systems, the example wearable system 600 shownin FIG. 6A can include three pairs of cameras: a relative wide FOV orpassive SLAM pair of cameras arranged to the sides of the user's face, adifferent pair of cameras oriented in front of the user to handle thestereo imaging process 640 and also to capture hand gestures andtotem/object tracking in front of the user's face. The FOV cameras andthe pair of cameras for the stereo process 640 may be a part of theoutward-facing imaging system 464 (shown in FIG. 4 ). The wearablesystem 600 can include eye tracking cameras (which may be a part of aninward-facing imaging system 462 shown in FIG. 4 ) oriented toward theeyes of the user in order to triangulate eye vectors and otherinformation. The wearable system 600 may also comprise one or moretextured light projectors (such as infrared (IR) projectors) to injecttexture into a scene.

The wearable system 600 can comprise a preview system 690 forconnectable objects. The preview system 690 can be configured togenerate, update, animate, and render previews for the outcome of one ormore users attempting to connect connectable objects in an AR, VR, or MRenvironment. As will be further described with reference to FIGS. 6B,10A-10D, and 11 , the preview system 690 can provide a preview of theconnection between two or more connectable objects prior to user(s)connecting the connectable objects. The preview may include arepresentation of the connectable objects in a connected state alongwith an indication of whether the connected state is valid or invalid.

Some or all of the preview system 690 can be implemented as part of thelocal processing and data module 260 or the remote processing module262, 264 alone or in combination. In various embodiments, the previewsystem 690 can receive user input from multiple different wearabledevices in situations where multiple users are interacting with theconnectable objects in the AR, VR, or MR environment. For example, afirst user with a first wearable device may be manipulating an activevirtual object (e.g., a pipe) to attempt to connect the active virtualobject to a target object (e.g., a pipe fitting or a pipe joint). Asecond user with a second wearable device may be holding the targetobject (real or virtual) during this manipulation. The first user'swearable device and the second user's wearable device (or other suchwearable devices) can communicate via a network, for example, as will bedescribed with reference to FIG. 9 , and the preview system 690 candisplay to the first and second users, via their respective first andsecond wearable devices, a preview of the connection operation.

FIG. 6B illustrates an example preview system 690. The preview system690 can implement a preview of two or more connectable objects includinga representation of the connectable objects in a connected state alongwith an indication of whether the connected state is valid or invaliddescribed with reference to FIGS. 10-11 . The preview system 690 caninclude a virtual objects 692 data store, a user input 694 data store,an object processing system 680, and a preview generator system 696. Theobject processing system 680 can include an active object calculatorsystem 682, a connectable object calculator system 684, and aconnectable object overlap calculator system 686.

The virtual objects data store 692 can store information for a pluralityof objects within a scene. For example, the virtual objects data store692 can include a list of two or more virtual objects. In someembodiments, the list of virtual objects can also include a virtualrepresentation of one or more objects in the real-world. The virtualobjects data store 692 can also include spatial information for each ofthe virtual objects in the list of virtual objects. In some embodiments,the virtual objects data store 692 further includes a list of two ormore connectable objects. The virtual objects data store 692 can furtherinclude, for each of the connectable objects, one or more nodes definingpoint(s) in space with respect to the corresponding connectable virtualobject at which the connectable virtual object can be connected toanother connectable virtual object.

The user input data store 694 can store information received from a userinput device configured to receive user input in an environment of auser of an AR system including the preview system 690. The user inputdevice can be embodied as any device configured to receive user input,such as the examples listed above in connection with the user inputdevice 466.

The object processing system 680 can receive input from each of thevirtual objects data store 692 and the user input data store 694 andprovide the preview generator system 696 with spatial and rotationalinformation for each of the virtual objects in the scene required togenerate a preview of an active object connected to a target connectableobject.

The active object calculator system 682 can identify one or more of theconnectable objects as an active object based on the user input receivedfrom the user input data store 694 and the list of connectable objectsreceived from the virtual objects data store 692. In some embodiments,an active object can be a virtual object that has been selected to bemanipulated by the user.

The connectable object location calculator system 684 can determine apreview position and a preview rotation of the active object if theactive object were connected to a target object. This position androtation of the active object can be used when displaying a preview ofthe connection between the active object and the target object.

The connectable object overlap calculator system 686 can determinewhether the active object would overlap another object in the list ofvirtual objects when located at the preview position and the previewrotation. The preview generator system 696 can generate a preview of theactive object during a connection operation or when connected to thetarget connectable object. The preview may include a visual indicationof whether the connection between the active object and the candidateconnectable object is valid (e.g., the active and target objects may bevalidly connected together without violating physical or virtualconstraints).

Examples of Mapping a User's Environment

FIG. 7 is a block diagram of an example of an MR environment 700. The MRenvironment 700 may be configured to receive input (e.g., visual input702 from the user's wearable system, stationary input 704 such as roomcameras, sensory input from various sensors, gestures, totems, eyetracking, user input from the user input device 466 etc.) from one ormore user wearable systems (e.g., wearable system 200 or display system220) or stationary room systems (e.g., room cameras, etc.). The wearablesystems can use various sensors (e.g., accelerometers, gyroscopes,temperature sensors, movement sensors, depth sensors, GPS sensors,inward-facing imaging system, outward-facing imaging system, etc.) todetermine the location and various other attributes of the environmentof the user. This information may further be supplemented withinformation from stationary cameras in the room that may provide imagesor various cues from a different point of view. The image data acquiredby the cameras (such as the room cameras and/or the cameras of theoutward-facing imaging system) may be reduced to a set of mappingpoints.

One or more object recognizers 708 can crawl through the received data(e.g., the collection of points) and recognize or map points, tagimages, attach semantic information to objects with the help of a mapdatabase 710. The map database 710 may comprise various points collectedover time and their corresponding objects. The various devices and themap database can be connected to each other through a network (e.g.,LAN, WAN, etc.) to access the cloud.

Based on this information and collection of points in the map database,the object recognizers 708 a to 708 n may recognize objects in anenvironment. For example, the object recognizers can recognize faces,persons, windows, walls, doors, user input devices, televisions,documents, other objects in the user's environment, etc. One or moreobject recognizers may be specialized for object with certaincharacteristics. For example, the object recognizer 708 a may be used torecognizer faces, while another object recognizer may be used recognizecuboidal objects (e.g., desks, chairs, sofas, tables, etc.).

The object recognitions may be performed using a variety of computervision techniques. For example, the wearable system can analyze theimages acquired by the outward-facing imaging system 464 (shown in FIG.4 ) to perform scene reconstruction, event detection, video tracking,object recognition (e.g., persons, objects, or documents), object poseestimation, facial recognition (e.g., from a person in the environmentor an image on a document), learning, indexing, motion estimation, orimage analysis (e.g., identifying indicia within documents such asphotos, signatures, identification information, travel information,etc.), and so forth. One or more computer vision algorithms may be usedto perform these tasks. Non-limiting examples of computer visionalgorithms include: Scale-invariant feature transform (SIFT), speeded uprobust features (SURF), oriented FAST and rotated BRIEF (ORB), binaryrobust invariant scalable keypoints (BRISK), fast retina keypoint(FREAK), Viola-Jones algorithm, Eigenfaces approach, Lucas-Kanadealgorithm, Horn-Schunk algorithm, Mean-shift algorithm, visualsimultaneous location and mapping (vSLAM) techniques, a sequentialBayesian estimator (e.g., Kalman filter, extended Kalman filter, etc.),bundle adjustment, Adaptive thresholding (and other thresholdingtechniques), Iterative Closest Point (ICP), Semi Global Matching (SGM),Semi Global Block Matching (SGBM), Feature Point Histograms, variousmachine learning algorithms (such as e.g., support vector machine,k-nearest neighbors algorithm, Naive Bayes, neural network (includingconvolutional or deep neural networks), or other supervised/unsupervisedmodels, etc.), and so forth.

The object recognitions can additionally or alternatively be performedby a variety of machine learning algorithms. Once trained, the machinelearning algorithm can be stored by the HMD. Some examples of machinelearning algorithms can include supervised or non-supervised machinelearning algorithms, including regression algorithms (such as, forexample, Ordinary Least Squares Regression), instance-based algorithms(such as, for example, Learning Vector Quantization), decision treealgorithms (such as, for example, classification and regression trees),Bayesian algorithms (such as, for example, Naive Bayes), clusteringalgorithms (such as, for example, k-means clustering), association rulelearning algorithms (such as, for example, a-priori algorithms),artificial neural network algorithms (such as, for example, Perceptron),deep learning algorithms (such as, for example, Deep Boltzmann Machine,or deep neural network), dimensionality reduction algorithms (such as,for example, Principal Component Analysis), ensemble algorithms (suchas, for example, Stacked Generalization), and/or other machine learningalgorithms. In some embodiments, individual models can be customized forindividual data sets. For example, the wearable device can generate orstore a base model. The base model may be used as a starting point togenerate additional models specific to a data type (e.g., a particularuser in the telepresence session), a data set (e.g., a set of additionalimages obtained of the user in the telepresence session), conditionalsituations, or other variations. In some embodiments, the wearable HMDcan be configured to utilize a plurality of techniques to generatemodels for analysis of the aggregated data. Other techniques may includeusing pre-defined thresholds or data values.

Based on this information and collection of points in the map database,the object recognizers 708 a to 708 n may recognize objects andsupplement objects with semantic information to give life to theobjects. For example, if the object recognizer recognizes a set ofpoints to be a door, the system may attach some semantic information(e.g., the door has a hinge and has a 90 degree movement about thehinge). If the object recognizer recognizes a set of points to be amirror, the system may attach semantic information that the mirror has areflective surface that can reflect images of objects in the room. Thesemantic information can include affordances of the objects as describedherein. For example, the semantic information may include a normal ofthe object. The system can assign a vector whose direction indicates thenormal of the object. Over time the map database grows as the system(which may reside locally or may be accessible through a wirelessnetwork) accumulates more data from the world. Once the objects arerecognized, the information may be transmitted to one or more wearablesystems. For example, the MR environment 700 may include informationabout a scene happening in California. The environment 700 may betransmitted to one or more users in New York. Based on data receivedfrom an FOV camera and other inputs, the object recognizers and othersoftware components can map the points collected from the variousimages, recognize objects etc., such that the scene may be accurately“passed over” to a second user, who may be in a different part of theworld. The environment 700 may also use a topological map forlocalization purposes.

FIG. 8 is a process flow diagram of an example of a method 800 ofrendering virtual content in relation to recognized objects. The method800 describes how a virtual scene may be presented to a user of thewearable system. The user may be geographically remote from the scene.For example, the user may be in New York, but may want to view a scenethat is presently going on in California, or may want to go on a walkwith a friend who resides in California.

At block 810, the wearable system may receive input from the user andother users regarding the environment of the user. This may be achievedthrough various input devices, and knowledge already possessed in themap database. The user's FOV camera, sensors, GPS, eye tracking, etc.,convey information to the system at block 810. The system may determinesparse points based on this information at block 820. The sparse pointsmay be used in determining pose data (e.g., head pose, eye pose, bodypose, or hand gestures) that can be used in displaying and understandingthe orientation and position of various objects in the user'ssurroundings. The object recognizers 708 a-708 n may crawl through thesecollected points and recognize one or more objects using a map databaseat block 830. This information may then be conveyed to the user'sindividual wearable system at block 840, and the desired virtual scenemay be accordingly displayed to the user at block 850. For example, thedesired virtual scene (e.g., user in CA) may be displayed at theappropriate orientation, position, etc., in relation to the variousobjects and other surroundings of the user in New York.

Example Communications Among Multiple Wearable Systems

FIG. 9 schematically illustrates an overall system view depictingmultiple user devices interacting with each other. The computingenvironment 900 includes user devices 930 a, 930 b, 930 c. The userdevices 930 a, 930 b, and 930 c can communicate with each other througha network 990. The user devices 930 a-930 c can each include a networkinterface to communicate via the network 990 with a remote computingsystem 920 (which may also include a network interface 971). The network990 may be a LAN, WAN, peer-to-peer network, radio, Bluetooth, or anyother network. The computing environment 900 can also include one ormore remote computing systems 920. The remote computing system 920 mayinclude server computer systems that are clustered and located atdifferent geographic locations. The user devices 930 a, 930 b, and 930 cmay communicate with the remote computing system 920 via the network990.

The remote computing system 920 may include a remote data repository 980which can maintain information about a specific user's physical and/orvirtual worlds. Data storage 980 can store information related to users,users' environment (e.g., world maps of the user's environment), orconfigurations of avatars of the users. The remote data repository maybe an embodiment of the remote data repository 280 shown in FIG. 2 . Theremote computing system 920 may also include a remote processing module970. The remote processing module 970 may be an embodiment of the remoteprocessing module 270 shown in FIG. 2 . The remote processing module 970may include one or more processors which can communicate with the userdevices (930 a, 930 b, 930 c) and the remote data repository 980. Theprocessors can process information obtained from user devices and othersources. In some implementations, at least a portion of the processingor storage can be provided by the local processing and data module 260(as shown in FIG. 2 ). The remote computing system 920 may enable agiven user to share information about the specific user's own physicaland/or virtual worlds with another user.

The user device may be a wearable device (such as an HMD or an ARD), acomputer, a mobile device, or any other devices alone or in combination.For example, the user devices 930 b and 930 c may be an embodiment ofthe wearable system 200 shown in FIG. 2 (or the wearable system 400shown in FIG. 4 ) which can be configured to present AR/VR/MR content.

One or more of the user devices can be used with the user input device466 shown in FIG. 4 . A user device can obtain or receive informationabout the user and the user's environment (e.g., using theoutward-facing imaging system 464 shown in FIG. 4 ). The user deviceand/or remote computing system 1220 can construct, update, and build acollection of images, points and other information using the informationobtained from the user devices. For example, the user device may processraw information acquired and send the processed information to theremote computing system 1220 for further processing. The user device mayalso send the raw information to the remote computing system 1220 forprocessing. The user device may receive the processed information fromthe remote computing system 1220 and provide final processing beforeprojecting to the user. The user device may also process the informationobtained and pass the processed information to other user devices. Theuser device may communicate with the remote data repository whileprocessing acquired information. Multiple user devices and/or multipleserver computer systems may participate in the construction and/orprocessing of acquired images.

The information on the physical worlds may be developed over time andmay be based on the information collected by different user devices.Models of virtual worlds may also be developed over time and be based onthe inputs of different users. Such information and models can sometimesbe referred to herein as a world map or a world model. As described withreference to FIGS. 6 and 7 , information acquired by the user devicesmay be used to construct a world map 910. The world map 910 may includeat least a portion of the map 620 described in FIG. 6A. Various objectrecognizers (e.g. 708 a, 708 b, 708 c . . . 708 n) may be used torecognize objects and tag images, as well as to attach semanticinformation to the objects. These object recognizers are also describedin FIG. 7 .

The remote data repository 980 can be used to store data and tofacilitate the construction of the world map 910. The user device canconstantly update information about the user's environment and receiveinformation about the world map 910. The world map 910 may be created bythe user or by someone else. As discussed herein, user devices (e.g.,930 a, 930 b, 930 c) and remote computing system 920, alone or incombination, may construct and/or update the world map 910. For example,a user device may be in communication with the remote processing module970 and the remote data repository 980. The user device may acquireand/or process information about the user and the user's environment.The remote processing module 970 may be in communication with the remotedata repository 980 and user devices (e.g., 930 a, 930 b, 930 c) toprocess information about the user and the user's environment. Theremote computing system 920 can modify the information acquired by theuser devices (e.g., 930 a, 930 b, 930 c), such as, e.g. selectivelycropping a user's image, modifying the user's background, adding virtualobjects to the user's environment, annotating a user's speech withauxiliary information, etc. The remote computing system 920 can send theprocessed information to the same and/or different user devices.

Example Preview System for Connectable Objects

When using certain AR systems, one or more users may be able tomanipulate the position and orientation of virtual objects within ascene. As used herein, the terms “object” or “virtual object” can referto anything that has a virtual representation in the AR system. The term“scene” can refer to the collection of all virtual objects currentlyrecognized by the AR system. As previously described, virtual objectsmay include objects which have no corresponding real-world analog withinthe scene as well as virtual representations of objects existing in thereal-world. Virtual objects may also include semantic labels with alocation in space, for example, a wall socket may be represented as asemantic label. The AR system may allow certain virtual objects to beconnected together by the user(s). Such virtual objects may be referredto as connectable objects herein.

Some AR systems that allow users to connect objects may only allow usersto connect objects with either prescriptive or purely virtual methods.Prescriptive methods may only allow users to manipulate previews “insitu,” changing the preview object and other relevant information (suchas rotation and scale) after the user identifies a point at which theuser wishes to attach another object. Requiring the user to identify thepoint of connection reduces user exploration of emergent possibilitiesusing a given set of objects. Since such exploration may be a key factorin rapid learning, prescriptive methods may not fully facilitate rapidlearning for users. Purely virtual methods may only allow users to movea preview object in virtual space, either as a “ghost” with no solidphysical properties or as an object that does not collide with objectsin the real world. Thus, purely virtual methods require the user to movethe preview object to the desired location of a connection beforefeedback on the validity of the connection is provided to the user.

Aspects of this disclosure relate to an AR system which canautomatically provide a preview of a connection between two or moreconnectable objects as user(s) move connectable object(s) within ascene. As the user(s) manipulate object(s) within the scene, the systemmay run a number of background calculations to continually update therepresentation of the virtual objects within the scene to the user(s) inreal-time. One such calculation may involve performing a physicalsimulation which simulates the physical properties of each of thevirtual objects as though the virtual objects were subject to physicallaws. For example, the physical simulation may prevent objects fromoccupying the same space in the scene, simulating the physical law thatsolid objects cannot occupy the same space. A variety of physical lawscan be simulated to produce a scene including a plurality of virtualobjects, for example, gravity, electricity or magnetism, physical orchemical properties (e.g., solid, liquid, or gas; hardness or softness;elasticity; mass, size, area, or volume; composition; color,reflectivity), and so forth.

One way in which the user(s) can interact with the virtual object is toallow the user(s) to connect certain virtual objects together. That is,some virtual objects within the AR system can be defined as connectableobjects which can be connected to other connectable objects in a manneranalogous to physical connections between real world-objects. Forexample, a connectable object representing an electrical plug can beconnected to a connectable object representing an electrical outlet. Inanother example, connectable objects representing a pipe and a pipejoint can be connected together. The connectable objects can representany connectable objects including construction blocks (e.g., Lego®),nuts and bolts, USB connectors and receptacles, coffee cups and lids, orany other virtual representation of connectable objects. In someembodiments, a connectable object may be one or more pieces that fittogether in such a way that two objects behave as one after connection.In some embodiments, a first connectable object may be merged with asecond connectable object to form a combined single object afterconnection.

The physical simulations of connectable objects may be able to determinewhether or not the attempted connection of two or more objects by theuser(s) is physically possible. There are a number of situations inwhich such an attempted connection cannot be physically completed. Forexample, a pipe and pipe joint may have different diameters, preventingthe pipe and pipe joint from being connected together. In anotherexample, an electrical outlet may have a different standard than anelectric plug the user(s) is trying to connect thereto (e.g., the plugand outlet may conform to different international standards).

Aspects of this disclosure relate to a preview system which allowsuser(s) to preview the outcome of connecting two connectable objectswhile using an AR system. By providing a preview to the user(s), the ARsystem can provide real-time feedback to the user(s) without suspendingsimulated physical forces and constraints of the physical simulation.There are a number of benefits associated with providing such preview(s)to the user(s). The preview can include a virtual representation of howtwo or more connectable objects will end up being connected to eachother given their current relative position and orientation. The previewcan also display additional information about the compatibility of theconnection when the connection is invalid according to the physicalsimulation. For example, the preview may include an indication that apipe joint has the wrong gauge and cannot be connected to a pipe. Inanother example, the preview can include an indication that a bolt isthe right diameter, but the wrong length for a certain application. Suchinformation regarding the incompatibility of two objects (e.g., thepreviewed connection is invalid) may be in the form of text or graphics(e.g., displayed by the display 220), an audible message (e.g., producedby the speaker 240), haptic feedback (e.g., produced by the totem 466 orother haptic device), etc.

Aspects of this disclosure can thus provide a natural interface for anyAR system that allows user(s) to connect two or more connectable objectstogether. Such AR system can include connecting two or more connectableobjects for: entertainment (combining building blocks), mechanicalengineering (assembling components), architecture, education, training,etc. One benefit of the systems describe herein are the natural userinterface, which can maintain the physical simulation while the user(s)manipulate objects in the environment, and which can lower thecomplexity of the user interface. That is, rather than requiring usersto determine how certain inputs will affect object(s) within the scene,the user(s) are free to move virtual objects as if they were objectsfrom the real-world, rather than virtual representations of objects.

Another benefit can include the continual feedback provided to theuser(s). In particular, a real-time preview of any potential connectioncan provide increased confidence in the result of the potentialconnection to the user(s) while providing constant feedback to theuser(s). For example, the visual preview can immediately make clear anyconstraints which would affect any potential connection to the user(s).In addition, when the preview indicates an incompatible connection, theAR system can provide an opportunity to give feedback that either: (i)educates the user(s) on why the two parts are incompatible, or (ii)illustrates how the combination is not ‘physically’ possible, e.g., asthe resulting combination would result in objects overlapping otherobjects. The real-time nature of the preview can allow virtual objectsto respond to virtual physical stimuli, which can include velocity,acceleration, and/or torque imparted to the virtual object(s) by theuser(s) and external collisions, without interrupting the feedback loop.These aspects of the real-time preview also contribute to the naturaluser interface.

Yet another benefit is that the AR system can provide clear expectationsto the user(s). That is, the real-time previews can make the result ofan attempted connection known before the connecting action is completedby the user. The AR system can also provide supporting text informingthe user(s) as to why the connection is valid or invalid. This creates ahighly iterative learning environment, improving the speed at whichuser(s) can learn about attempted connections of connectable objects.

Still yet another benefit is the AR system's ability to providemulti-user support. Since the AR system can continuously run the physicssimulation for all objects in the scene and provide previews ofattempted connections in real-time, it is possible for multiple users toaffect objects in the same scene simultaneously. In a first example, theAR system may include a virtual object representing a pipe. A first usercan manipulate a virtual cap for the pipe and a second user cansimultaneously manipulate a virtual pipe extension for the pipe. If bothusers attempt to connect their respective virtual objects to the pipe atthe same time, the physics simulation can indicate that both objectscannot occupy the same space and prevent the connection of both virtualobjects to the pipe from occurring.

Aspects of this disclosure can allow one or more user(s) to preview theresult of connecting two connectable objects, prior to connecting thetwo connectable objects together. The system can be configured toprovide the preview such that the user can know at a glance whether theattempted connection between connectable objects would violate rules ofthe simulation. For example, if the attempted connection would overlapwith itself or another object in the scene, the system may provide anindication to the user which can be readily assessed by the user.

FIGS. 10A-10D are examples of views that can be generated by a previewsystem for connectable objects and provided to a user via a display. Thepreview system can comprise the preview system 690 described withreference to FIGS. 6A and 6B. The display may be configured to presentvirtual content to the user of the AR system as described with referenceto the wearable system 200 of FIG. 2 . FIG. 10A illustrates a view 1000including an active object 1005 and a target object 1015. The activeobject 1005 includes an active node 1010 and the target object includesa target node 1020. As used herein, the term “node” can refer to a pointin space relative to a corresponding virtual object. In someembodiments, the active object 1005 may be the object that is activelybeing manipulated. The AR system may be able to determine the finalresult of a preview connection between two connectable objects using thenodes on the two connectable objects. For example, when two connectableobjects with nodes come into close proximity, the nodes can be used todetermine the final result (e.g., the position, rotation, and/orcompatibility) of the potential connection event. Thus, the active node1010 and the target node 1020 can define respective points on the activeobject 1005 and the target object 1015 at which each of the activeobject 1005 and the target object 1015 can be connected to otherconnectable object(s).

FIG. 10B illustrates the view 1000 including a preview 1025 of theactive object 1005 connected to the target object 1015. As the usermoves the active object 1005 closer to the target object 1015, thesystem may generate the preview 1025 of the connection between theactive object 1005 and the target object 1015. A preview, such as thepreview 1025 in FIG. 10B, may be a virtual object that representsanother connectable object. Typically, it resembles its source objectbut with a different style or aesthetic. The preview 1025 may be shownin a final connected position between the active object 1005 and thetarget object 1015. In some embodiments, the system may generate thepreview 1025 in response to the active node 1010 and the target node1020 being less than a threshold distance apart from each other. In FIG.10B, the active node 1010 is compatible with the target node 1020 and apotential connection between the active object 1005 and the targetobject 1015 does not overlap any other objects. Thus, the preview 1025may include an indication that the potential connection is valid. Insome embodiments, the indication may include representing the preview1025 as a certain color (e.g., green). However, the indication may takeother forms (e.g., an textual indication, a haptic indication, agraphical indication, etc.) in other embodiments.

FIG. 10C illustrates the view 1000 including a preview 1030 of theactive object 1005 connected to the target object 1015 and overlappinganother object 1035. In particular, the object 1035 may be anon-connectable object which would occupy at least some of the samevolume as the active object 1005, if the active object were moved into afinal position connected to the target object 1015. For example, FIG.10C shows a solid block 1035 that would prevent moving the active object1005 (e.g., a pipe in this example) to the position shown as the preview1030, because the pipe would have to pass through the solid block 1035,which is physically impermissible. Thus, the preview 1030 may include anindication that the potential connection is invalid due to the overlapbetween the preview 1030 and the object 1035. In some embodiments, theindication may include representing the preview 1030 as a certain color(e.g., red). However, the indication may take other forms (e.g., atextual indication, an acoustic indication, a haptic indication, etc.)in other embodiments.

FIG. 10D illustrates the view 1000 include a preview 1040 of the activeobject 1005 connected to the target object 1015 where the nodes of theactive object 1005 and the target object 1015 are incompatible. In theembodiment of FIG. 10D, the diameter of the active object 1005 pipe maybe less than the diameter of the pipe fitting of the target object 1015.Each of the active node 1010 and the target node 1020 (see FIG. 10A) mayinclude information related to which potential connections would becompatible (e.g., including the diameter of the pipe and pipe fitting)such that the system can determine the compatibility of a potentialconnection by comparing the information of the two nodes 1010 and 1020.Similar to FIG. 10C, the preview 1040 may include an indication that thepotential connection is invalid due to the incompatibility of the activenode 1010 and the target node 1020. In some embodiments, the indicationmay include representing the preview 1040 as a certain color (e.g.,red). However, the indication may take other forms (e.g., a graphicalindication, a textual indication, an acoustic indication, a hapticindication, etc.) in other embodiments.

In the embodiment of FIGS. 10A-10D, the connectable objects are shown aspipes. However, this is merely an illustration of one embodiment andaspects of this disclosure can also be applied to any other type ofconnectable objects.

FIG. 11 illustrates a flowchart for an example method 1100 that can beapplied to generate a preview of a connection between two connectableobjects in accordance with aspects of this disclosure. The method 1100illustrated in FIG. 11 can be applied to connectable objects of anytype. The method 1100 can be performed by an AR system (or simply a“system”), for example, by the preview system 690 of the wearable system200. Certain blocks may be performed by one or more elements of the ARsystem or can be offloaded for processing on a remote processing device(e.g., the remote processing module 270 of FIG. 2 ). In addition, themethod 1100 is described as interacting with a single user, however, themethod 1100 can be extended to receive input from multiple users, forexample, multiple users (or user devices) 930 a-930 c communicating viathe network 990 described with reference to FIG. 9 .

At block 1105, the system starts the simulation update. If there areobjects in the user's real-world environment that form part of thescene, the system can scan the environment and update the virtualrepresentations of objects in the real-world stored in the virtualobjects data store 692. The system can update the spatial informationfor each of the virtual objects in the list of virtual objects store inthe virtual objects data store 692. The system can also obtain userinput from the user input data store 694.

At block 1110, the system determines whether the user is manipulatingany of the virtual objects from the list of virtual objects in thevirtual object data store 692. The user input may indicate one or moreof the virtual objects as being currently manipulated by the user. Forexample, the user may be holding a totem (also referred to as a userinput device or manipulator) that is controlling one or more objects inthe scene. The totem or manipulator may be an interface used to controlan object in the scene. Any user input device can be used to manipulateobjects within the scene. In implementations where the user can controlobjects using a totem, the system can, for each totem in the scene, addthe objects currently being controlled by the totem to a list of activeobjects. When there are no objects in the list of active objects, thesystem may return “No” from block 1110, and continue at block 1130. Whenthere is at least one object in the list of active objects, the systemmay return “Yes” from block 1110, and continue at block 1115.

At block 1115, the system can determine whether the active object(s)have any available nodes. A node can be determined to be available whenthe node is accepting connections to other nodes. For example, if a nodeis currently connected to another node, the node may not be acceptingconnections to other nodes. More generally, a node may permitconnections up to a maximum threshold number of nodes (e.g., 0 (meaningthe node does not permit connection to any other nodes), 1, 2, 3, 4, 5,or more) and not permit connections above the maximum threshold number.As another example, a node may accept connections to only certain typesof nodes (e.g., a pipe node may only be connected to a pipe fittingnode). The system can generate a list of active nodes including allavailable nodes from the active object(s). When there are no activenodes in the list of active nodes, the system may return “No” from block1115, and continue at block 1130. When there is at least one active nodein the list of active nodes, the system may return “Yes” from block1115, and continue at block 1120.

At block 1120, the system can determine whether there is a valid nodepair in the scene. The determination of whether there is a valid nodepair may involve the system generating a list of target nodes includingall available nodes from the scene from virtual objects other than theactive objects. For example, the system can add every node in the scenethat is (a) not included in the list of active nodes, and (b) determinedto be available to the list of target nodes. The determination ofwhether there is a valid node pair may further involve generating a listof node pairs including each valid pair of nodes having one node fromthe list of active nodes and another node from the list of target nodes.As used herein, a node pair can refer to two nodes located, in someembodiments, on separate connectable objects that the system isevaluating for a potential connection. In some embodiments, the systemcan also preview a connection between two nodes of the same object, suchthat the object is connected to itself (e.g., a deformable ring in whichthe ends of the ring can be connected to each other). In theseembodiments, the node pair can also include two nodes located on thesame connectable object.

In some embodiments, generating the list of node pairs may involve, foreach combination of pairs of nodes with one active node and one targetnode, comparing the information of the active node to the information ofthe target node and determining if the selected pair of nodes is a validpair based on the determination. When a pair of nodes has beendetermined to be valid, the system can further create a node pair withthe two nodes, determine a connection score for the pair of nodes, andadd the created node pair and associated connection score to the list ofnode pairs. In some embodiments, the system may determine a connectionscore heuristic on the information associated with each of the pairs ofnodes. The connection score heuristic may generate a score by which thepairs of nodes can be quantitatively compared. Depending on theparticular implementation of the connection score heuristic, the highestscore or the lowest score can be used to select one of the node pairs asan active node pair. One example connection score heuristic that can beused is based on the distance between the nodes in a given node pair. Inthis example, for each node pair, the system can determine the distancebetween the nodes and store the distance as the connection score. Usingthis example connection score heuristic, the node pair with the lowestscore can be selected as the active node pair in block 1125, describedbelow.

When there are no node pairs in the list of node pairs, the system mayreturn “No” from block 1120, and continue at block 1130. When there isat least one node pair in the list of node pairs, the system may return“Yes” from block 1120, and continue at block 1125.

At block 1125, the system can move the preview object to be connectedwith the target object. For example, the system may select one of thenode pairs from the list of node pairs as an active node pair. In someembodiments, the system may use an active node pair heuristic forselecting the active node pair. Continuing the above distance-basedconnection score heuristic example, the node pair having the lowestconnection score can be selected as the active node pair in thisexample. The system can also determine the position and rotation of thepreview based on the active node pair using, for example, the connectedobject location calculator system 684. The system can then move thepreview to the position and rotation determined by the connected objectlocation calculator system 684.

The method 1100 continues at block 1135, where the system can determinewhether the nodes in the active node pair are compatible. In someembodiments, the system can determine that two nodes are compatible whenif the information on the nodes indicates that the nodes are compatibleusing a compatibility heuristic. The compatibility heuristic may bespecific to the type of objects for which the connection is beingattempted. For example, one compatibility heuristic for connecting waterpipes may determine that two objects are compatible when the followingconditions are true: one of the objects is a pipe, the other object is apipe joint, and both objects have the same diameter. When at least oneof the conditions is false, the system can determine that the two nodesare incompatible. Other compatibility heuristics can be used fordetermining whether nodes of other types of objects are compatible. Whenthe nodes are incompatible, the system may return “No” from block 1135,and continue at block 1145. When the nodes are compatible, the systemmay return “Yes” from block 1135, and continue at block 1140.

At block 1145, the system determines whether to show the preview even ifthe nodes are determined to be incompatible. This may be a settingselectable by the user of the system or a predetermined system setting.When the preview is not to be shown, the system may return “No” fromblock 1145, and continue at block 1130. When the preview is to be shown,the system may return “Yes” from block 1145, and continue at block 1155.

At block 1130, the system hides the preview object, preventing thepreview from being displayed to the user. For example, the system mayset the visual state of the preview object to invalid and prevent thepreview object from being displayed. The method 1100 then continues atblock 1170.

At block 1140, the system determines whether the preview object overlapsanother object. The system may use the connected object overlapcalculator system 686 to determine whether the preview object overlapsany other objects in the scene. For example, the connected objectoverlap calculator system 686 can determine if the preview overlaps asolid object in the scene, for example, by at least partially occupyingthe same volume as any other objects. In some embodiments, the connectedobject overlap calculator system 686 may exclude the preview's sourceobject (e.g., the active object), the totem, and/or other virtualobjects from the determination of whether the preview overlaps otherobjects in the scene. Such exclusions may improve usability and make iteasier for the user to move objects close together. For example, asshown in FIG. 10B, although the preview 1025 overlaps the active object1005 in the view 1000, the connected object overlap calculator system686 may not indicate that an overlap has occurred in this situation. Insome embodiments, the connected object overlap calculator system 686returns a list of object(s) overlapping the preview object. When thereare no objects in the list, the system may return “No” from block 1140,and continue at block 1150. When there is at least one object in thelist, the system may return “Yes” from block 1140, and continue at block1155.

At block 1155, the system may show an invalid preview to the user,displaying the invalid preview to the user. For example, the system mayset the visual state of the preview object to valid and display theinvalid preview object to the user. The system can also provideadditional information related to why the preview is invalid to theuser. This can include the reasons why the nodes are incompatible and/oran indication that another object overlaps the preview. In someembodiments, the system may refrain from displaying the invalid previewwhen the distance between the two nodes in the active node pair isgreater than a threshold distance. The method 1100 then continues atblock 1170.

At block 1150, the system determines whether to connect the objects. Thesystem may determine whether to connect the object based on user input.For example, in response to the user moving the active object into aconnected position and orientation with respect to the target object,the system may connect the two objects together. In another example, thesystem may provide the user with the option to connect the two objects,for example, via a selection dialog. When system determines not toconnect the objects, the system may return “No” from block 1150, andcontinue at block 1165. When the system determines to connect theobjects, the system may return “Yes” from block 1150, and continue atblock 1160. In some embodiments, the system may automatically determinewhether to connect the objects. For example, the system may beprogrammed to automatically connect the objects when the process is atblock 1150.

At block 1165, the system may show a valid preview of the connection.For example, the system may set the visual state of the preview objectto valid and display the preview in the connected position and rotationwith respect to the target object. In some embodiments, the system mayrefrain from displaying the preview when the distance between the twonodes in the active node pair is greater than a threshold distance. Themethod 1100 then continues at block 1170.

At block 1160, the system may connect the active object to the targetobject. For example, the system may move the active object into aconnected position and rotation with respect to the target object. Thesystem can also hide the preview object, for example, by setting thevisual state of the preview object to invalid. The method 1100 thencontinues at block 1170.

At block 1170, the system completes the update of the simulation andrenders the scene for the user based on the updated parameters. Forexample, the rendered scene may include hiding the preview object (e.g.,via block 1130), showing an invalid preview (e.g., via block 1155),showing a valid preview (e.g., via block 1165), or connecting the activeobject to the target object (e.g., via block 1160). Once the scene isrendered for display to the user, the method may return to block 1105 toupdate the simulation.

Additional Aspects

Aspect 1. An augmented reality (AR) system, comprising: a user inputdevice configured to receive user input in an environment of a user ofthe AR system; a display configured to present virtual content to theuser of the AR system; non-transitory computer storage configured tostore: a list of two or more connectable virtual objects includingspatial information for each of the connectable objects, wherein eachconnectable virtual object has at least one node, wherein a node definesa point in space with respect to the corresponding connectable virtualobject at which the connectable virtual object can be connected toanother connectable virtual object, and a list of one or more nodes foreach of the connectable virtual objects; and a hardware processor incommunication with the non-transitory computer storage, the hardwareprocessor programmed to: receive user input from the user input deviceindicative of a manipulation of at least one of the connectable virtualobjects; identify a first of the at least one of the connectable virtualobjects as an active object based on the user input; identify at leastone of the connectable virtual objects as a target object; determinethat a node of the active object and a node of the target object arecompatible; and generate a preview of the active object connected to thetarget object.

Aspect 2. The system of aspect 1, wherein the preview includes a visualindication of whether the connection between the active object and thetarget object is valid.

Aspect 3. The system of aspect 1 or aspect 2, wherein the spatialinformation includes at least one of a position, a rotation, or a scalefor each of the connectable objects.

Aspect 4. The system of any one of aspects 1 to 3, wherein the hardwareprocessor is further programmed to: update the spatial information foreach of the connectable virtual objects based on a physics simulation.

Aspect 5. The system of any one of aspects 1 to 4, wherein the hardwareprocessor is further programmed to: generate a list of active objectsbased on the user input, and generate a list of active nodes comprisingavailable nodes from the nodes of the active objects.

Aspect 6. The system of aspect 5, wherein the hardware processor isfurther programmed to: generate a list of target nodes comprisingavailable nodes from the nodes of connectable virtual objects excludingthe active objects, generate a list of node pairs comprising valid pairsof nodes between the list of active nodes and the list of target nodes,and select the target object based on the list of node pairs.

Aspect 7. The system of aspect 6, wherein to select the candidateconnectable object, the hardware processor is further programmed to:calculate a connection score for each of the node pairs using aconnection score heuristic, select the node pair having a highest orlowest connection score as an active node pair, and select the targetobject sharing a node in the active node pair.

Aspect 8. The system of aspect 7, wherein the connection score heuristiccomprises a measurement of a distance between the nodes for each of thenode pairs.

Aspect 9. The system of aspect 7 or aspect 8, wherein to generate thepreview, the hardware processor is further programmed to: reposition androtate the preview to be connected to the target object via the activenode pair.

Aspect 10. The system of any one of aspects 7 to 9, wherein the hardwareprocessor is further programmed to: determine whether the nodes of theactive node pair are compatible using a compatibility heuristic, andgenerate a visual indication of whether the connection between theactive object and the candidate connectable object is valid based on thedetermination of whether the nodes of the active node pair arecompatible.

Aspect 11. The system of any one of aspects 7 to 9, wherein the hardwareprocessor is further programmed to: determine whether the previewoverlaps another connectable object or a non-connectable object, andgenerate a visual indication of whether the preview overlaps the otherconnectable object or the non-connectable object.

Aspect 12. The system of any one of aspects 1 to 11, wherein the list ofconnectable objects includes at least one virtual connectable object andat least one virtual representation of a real-world connectable object.

Aspect 13. The system of any one of aspects 1 to 12, wherein the list ofconnectable objects includes only virtual connectable objects.

Aspect 14. The system of any one of aspects 1 to 13, wherein thehardware processor is further programmed to: determine that the nodes ofthe active object are not within a threshold distance of any nodes ofthe other connectable objects, and hide the preview from being displayedin response to determining that the nodes of the active object are notwithin the threshold distance of any of the nodes of the otherconnectable objects.

Aspect 15. The system of any one of aspects 1 to 14, wherein the userinput device comprises a plurality of user input devices, and whereinthe hardware processor is further programmed to: receive input from aplurality of users via the user input devices, generate a list of activeobjects based on the input received from the plurality of user inputdevices, and for each of the active objects, generate a preview thecorresponding active object connected to a corresponding target object.

Aspect 16. The system of any one of aspects 1 to 15, wherein the userinput device comprises an outward facing camera configured to detectgestures of the user.

Aspect 17. A method comprising: under control of a preview system forconnectable virtual objects comprising computing hardware: receivinguser input from a user input device indicative of a manipulation of atleast one of a plurality of connectable virtual objects from a list ofconnectable virtual objects, the list of connectable virtual objectsincluding spatial information for each of the connectable virtualobjects and a list of one or more nodes for each of the connectablevirtual objects, wherein each connectable virtual object has at leastone node, and wherein a node defines a point in space with respect tothe corresponding connectable virtual object at which the connectablevirtual object can be connected to another connectable virtual object;identifying a first of the at least one of the connectable virtualobjects as an active object based on the user input; identifying atleast one of the connectable virtual objects as a target object;determining that a node of the active object and a node of the targetobject are compatible; and generate a preview of the active objectconnected to the target object.

Aspect 18. The method of aspect 17, wherein the preview includes avisual indication of whether the connection between the active objectand the target object is valid.

Aspect 19. The method of aspect 17 or aspect 18, wherein the spatialinformation includes at least one of a position, a rotation, or a scalefor each of the connectable objects.

Aspect 20. The method of any one of aspects 17 to 19, furthercomprising: updating the spatial information for each of the connectablevirtual objects based on a physics simulation.

Aspect 21. The method of any one of aspects 17 to 20, furthercomprising: generating a list of active objects based on the user input,and generating a list of active nodes comprising available nodes fromthe nodes of the active objects.

Aspect 22. The method of aspect 21, further comprising: generating alist of target nodes comprising available nodes from the nodes ofconnectable virtual objects excluding the active objects, generating alist of node pairs comprising valid pairs of nodes between the list ofactive nodes and the list of target nodes, and selecting the targetobject based on the list of node pairs.

Aspect 23. The method of aspect 22, wherein to select the candidateconnectable object, the method further comprises: calculating aconnection score for each of the node pairs using a connection scoreheuristic, selecting the node pair having a highest or lowest connectionscore as an active node pair, and selecting the target object sharing anode in the active node pair.

Aspect 24. The method of aspect 23, wherein the connection scoreheuristic comprises a measurement of a distance between the nodes foreach of the node pairs.

Aspect 25. The method of aspect 23 or aspect 24, wherein to generate thepreview, the method further comprises: repositioning and rotating thepreview to be connected to the target object via the active node pair.

Aspect 26. The method of any one of aspects 23 to 25, furthercomprising: determining whether the nodes of the active node pair arecompatible using a compatibility heuristic, and generating a visualindication of whether the connection between the active object and thecandidate connectable object is valid based on the determination ofwhether the nodes of the active node pair are compatible.

Aspect 27. The method of any one of aspects 23 to 26, furthercomprising: determining whether the preview overlaps another connectableobject or a non-connectable object, and generating a visual indicationof whether the preview overlaps the other connectable object or thenon-connectable object.

Aspect 28. The method of any one of aspects 17 to 27, wherein the listof connectable objects includes at least one virtual connectable objectand at least one virtual representation of a real-world connectableobject.

Aspect 29. The method of any one of aspects 17 to 28, wherein the listof connectable objects includes only virtual connectable objects.

Aspect 30. The method of any one of aspects 17 to 29, furthercomprising: determining that the nodes of the active object are notwithin a threshold distance of any nodes of the other connectableobjects, and hiding the preview from being displayed in response todetermining that the nodes of the active object are not within thethreshold distance of any of the nodes of the other connectable objects.

Aspect 31. The method of any one of aspects 17 to 30, wherein the userinput device comprises a plurality of user input devices, and whereinthe method further comprises: receiving input from a plurality of usersvia the user input devices, generating a list of active objects based onthe input received from the plurality of user input devices, and foreach of the active objects, generating a preview the correspondingactive object connected to a corresponding target object.

Aspect 32. The method of any one of aspects 17 to 31, wherein the userinput device comprises an outward facing camera configured to detectgestures of the user.

Other Considerations

Each of the processes, methods, and algorithms described herein and/ordepicted in the attached figures may be embodied in, and fully orpartially automated by, code modules executed by one or more physicalcomputing systems, hardware computer processors, application-specificcircuitry, and/or electronic hardware configured to execute specific andparticular computer instructions. For example, computing systems caninclude general purpose computers (e.g., servers) programmed withspecific computer instructions or special purpose computers, specialpurpose circuitry, and so forth. A code module may be compiled andlinked into an executable program, installed in a dynamic link library,or may be written in an interpreted programming language. In someimplementations, particular operations and methods may be performed bycircuitry that is specific to a given function.

Further, certain implementations of the functionality of the presentdisclosure are sufficiently mathematically, computationally, ortechnically complex that application-specific hardware or one or morephysical computing devices (utilizing appropriate specialized executableinstructions) may be necessary to perform the functionality, forexample, due to the volume or complexity of the calculations involved orto provide results substantially in real-time. For example, animationsor video may include many frames, with each frame having millions ofpixels, and specifically programmed computer hardware is necessary toprocess the video data to provide a desired image processing task orapplication in a commercially reasonable amount of time. As anotherexample, the preview system for connectable objects can becomputationally complex and may, in some cases, require hardwareprocessors to perform the preview process.

Code modules or any type of data may be stored on any type ofnon-transitory computer-readable medium, such as physical computerstorage including hard drives, solid state memory, random access memory(RAM), read only memory (ROM), optical disc, volatile or non-volatilestorage, combinations of the same and/or the like. The methods andmodules (or data) may also be transmitted as generated data signals(e.g., as part of a carrier wave or other analog or digital propagatedsignal) on a variety of computer-readable transmission mediums,including wireless-based and wired/cable-based mediums, and may take avariety of forms (e.g., as part of a single or multiplexed analogsignal, or as multiple discrete digital packets or frames). The resultsof the disclosed processes or process steps may be stored, persistentlyor otherwise, in any type of non-transitory, tangible computer storageor may be communicated via a computer-readable transmission medium.

Any processes, blocks, states, steps, or functionalities in flowdiagrams described herein and/or depicted in the attached figures shouldbe understood as potentially representing code modules, segments, orportions of code which include one or more executable instructions forimplementing specific functions (e.g., logical or arithmetical) or stepsin the process. The various processes, blocks, states, steps, orfunctionalities can be combined, rearranged, added to, deleted from,modified, or otherwise changed from the illustrative examples providedherein. In some embodiments, additional or different computing systemsor code modules may perform some or all of the functionalities describedherein. The methods and processes described herein are also not limitedto any particular sequence, and the blocks, steps, or states relatingthereto can be performed in other sequences that are appropriate, forexample, in serial, in parallel, or in some other manner Tasks or eventsmay be added to or removed from the disclosed example embodiments.Moreover, the separation of various system components in theimplementations described herein is for illustrative purposes and shouldnot be understood as requiring such separation in all implementations.It should be understood that the described program components, methods,and systems can generally be integrated together in a single computerproduct or packaged into multiple computer products. Many implementationvariations are possible.

The processes, methods, and systems may be implemented in a network (ordistributed) computing environment. Network environments includeenterprise-wide computer networks, intranets, local area networks (LAN),wide area networks (WAN), personal area networks (PAN), cloud computingnetworks, crowd-sourced computing networks, the Internet, and the WorldWide Web. The network may be a wired or a wireless network or any othertype of communication network.

The systems and methods of the disclosure each have several innovativeaspects, no single one of which is solely responsible or required forthe desirable attributes disclosed herein. The various features andprocesses described above may be used independently of one another, ormay be combined in various ways. All possible combinations andsubcombinations are intended to fall within the scope of thisdisclosure. Various modifications to the implementations described inthis disclosure may be readily apparent to those skilled in the art, andthe generic principles defined herein may be applied to otherimplementations without departing from the spirit or scope of thisdisclosure. Thus, the claims are not intended to be limited to theimplementations shown herein, but are to be accorded the widest scopeconsistent with this disclosure, the principles and the novel featuresdisclosed herein.

Certain features that are described in this specification in the contextof separate implementations also can be implemented in combination in asingle implementation. Conversely, various features that are describedin the context of a single implementation also can be implemented inmultiple implementations separately or in any suitable subcombination.Moreover, although features may be described above as acting in certaincombinations and even initially claimed as such, one or more featuresfrom a claimed combination can in some cases be excised from thecombination, and the claimed combination may be directed to asubcombination or variation of a subcombination. No single feature orgroup of features is necessary or indispensable to each and everyembodiment.

Conditional language used herein, such as, among others, “can,” “could,”“might,” “may,” “e.g.,” and the like, unless specifically statedotherwise, or otherwise understood within the context as used, isgenerally intended to convey that certain embodiments include, whileother embodiments do not include, certain features, elements and/orsteps. Thus, such conditional language is not generally intended toimply that features, elements and/or steps are in any way required forone or more embodiments or that one or more embodiments necessarilyinclude logic for deciding, with or without author input or prompting,whether these features, elements and/or steps are included or are to beperformed in any particular embodiment. The terms “comprising,”“including,” “having,” and the like are synonymous and are usedinclusively, in an open-ended fashion, and do not exclude additionalelements, features, acts, operations, and so forth. Also, the term “or”is used in its inclusive sense (and not in its exclusive sense) so thatwhen used, for example, to connect a list of elements, the term “or”means one, some, or all of the elements in the list. In addition, thearticles “a,” “an,” and “the” as used in this application and theappended claims are to be construed to mean “one or more” or “at leastone” unless specified otherwise.

As used herein, a phrase referring to “at least one of” a list of itemsrefers to any combination of those items, including single members. Asan example, “at least one of: A, B, or C” is intended to cover: A, B, C,A and B, A and C, B and C, and A, B, and C. Conjunctive language such asthe phrase “at least one of X, Y and Z,” unless specifically statedotherwise, is otherwise understood with the context as used in generalto convey that an item, term, etc. may be at least one of X, Y or Z.Thus, such conjunctive language is not generally intended to imply thatcertain embodiments require at least one of X, at least one of Y and atleast one of Z to each be present.

Similarly, while operations may be depicted in the drawings in aparticular order, it is to be recognized that such operations need notbe performed in the particular order shown or in sequential order, orthat all illustrated operations be performed, to achieve desirableresults. Further, the drawings may schematically depict one more exampleprocesses in the form of a flowchart. However, other operations that arenot depicted can be incorporated in the example methods and processesthat are schematically illustrated. For example, one or more additionaloperations can be performed before, after, simultaneously, or betweenany of the illustrated operations. Additionally, the operations may berearranged or reordered in other implementations. In certaincircumstances, multitasking and parallel processing may be advantageous.Moreover, the separation of various system components in theimplementations described above should not be understood as requiringsuch separation in all implementations, and it should be understood thatthe described program components and systems can generally be integratedtogether in a single software product or packaged into multiple softwareproducts. Additionally, other implementations are within the scope ofthe following claims. In some cases, the actions recited in the claimscan be performed in a different order and still achieve desirableresults.

1. An augmented reality (AR) system, comprising: a user input deviceconfigured to receive user input in an environment of a user of the ARsystem, the environment having a plurality of connectable virtualobjects; a display configured to present virtual content to the user ofthe AR system; non-transitory computer storage configured to storesoftware instructions; and a hardware processor in communication withthe non-transitory computer storage, the hardware processor configuredto execute the software instructions to: identify at least one of theconnectable virtual objects as an active connectable virtual objectbased on user input received from the user input device; identify atleast one of the connectable virtual objects as a target connectablevirtual object; determine if the active connectable virtual object andthe target connectable virtual object are compatible for connection; andgenerate a preview of the active connectable virtual object connected tothe target connectable virtual object based on the determination ofcompatibility.
 2. The system of claim 1, wherein the hardware processoris further programmed to: determine whether the preview overlaps anotherobject; and generate a visual indication of whether the preview overlapsthe another object.
 3. The system of claim 1, wherein the hardwareprocessor is further programmed to: determine that the activeconnectable virtual object and the target connectable virtual object arenot within a threshold distance of each other; and hide the preview frombeing displayed in response to determining that the active connectablevirtual object and the target connectable virtual object are not withinthe threshold distance of each other.
 4. The system of claim 1, whereinthe hardware processor is further programmed to: receive input from aplurality of users; generate a list of active connectable virtualobjects based on the input received from the plurality of users; and foreach of the active connectable virtual objects, generate a preview ofthe active connectable virtual objects connected to corresponding targetconnectable virtual objects.
 5. The system of claim 1, wherein the oneor more target connectable virtual objects includes at least one virtualobject and at least one virtual representation of a real-world object.6. The system of claim 1, wherein the preview includes a visualindication of whether connection between the active connectable virtualobject and the selected target connectable virtual object is valid. 7.The system of claim 1, wherein, to generate the preview, the hardwareprocessor is further programmed to: reposition and rotate the activeconnectable virtual object to be coupled to the selected targetconnectable virtual object.
 8. The system of claim 1, wherein the activeconnectable virtual object includes one or more connection node defininga portion of the active connectable virtual object that is connectableto the one or more target connectable virtual objects, each of the oneor more target connectable virtual objects include one or more targetconnection nodes; and wherein the hardware processor is furtherprogrammed to: generate a list of the one or more connection nodes forthe active connectable virtual object.
 9. The system of claim 8, whereinthe hardware processor is further programmed to: generate a list oftarget nodes comprising available target nodes from the target nodes oftarget connectable virtual objects excluding the active connectablevirtual object, generate a list of node pairs comprising valid pairs ofnodes between the list of active nodes and the list of target nodes; andselect the target connectable virtual object based on the list of nodepairs.
 10. The system of claim 9, wherein to select the targetconnectable virtual object, the hardware processor is further programmedto: calculate a connection score for each of the node pairs using aconnection score heuristic, select the node pair having a highest orlowest connection score as an active node pair, and select the targetconnectable virtual object sharing a node in the active node pair. 11.The system of claim 10, wherein the connection score heuristic comprisesa measurement of a distance between the nodes for each of the nodepairs.
 12. The system of claim 10, wherein the hardware processor isfurther programmed to: determine whether the nodes of the active nodepair are compatible using a compatibility heuristic, and generate avisual indication of whether the connection between the activeconnectable virtual object and the target connectable virtual object isvalid based on the determination of whether the nodes of the active nodepair are compatible.
 13. The system of claim 1, wherein the hardwareprocessor is further programmed to: responsive to user input to connectthe active connectable virtual object to the target connectable virtualobject, connect the active connectable virtual object with the targetconnectable virtual object; and stop display of the preview in responseto connecting the active connectable virtual object with the targetconnectable virtual object.
 14. A computerized method, performed by acomputing system having one or more hardware computer processors and oneor more non-transitory computer readable storage device storing softwareinstructions executable by the computing system to perform thecomputerized method comprising: receiving user input in an environmentof a user of the computing system, the environment having a plurality ofconnectable virtual objects; identifying, with the computing system, atleast one of the connectable virtual objects as an active connectablevirtual object based on user input received from the user input device;identifying, with the computing system, at least one of the connectablevirtual objects as a target connectable virtual object; determining,with the computing system, if the active connectable virtual object andthe target connectable virtual object are compatible for connection; andgenerating, with the computing system on a visual display, a preview ofthe active connectable virtual object connected to the targetconnectable virtual object based on the determination of compatibility.15. The method of claim 14, further comprising: determining whether thepreview overlaps another object; and generating a visual indication ofwhether the preview overlaps the another object.
 16. The method of claim14, further comprising: determining that the active connectable virtualobject and the target connectable virtual object are not within athreshold distance of each other; and hiding the preview from beingdisplayed in response to determining that the active connectable virtualobject and the target connectable virtual object are not within thethreshold distance of each other.
 17. The method of claim 14, furthercomprising: receiving input from a plurality of users; generating a listof active connectable virtual objects based on the input received fromthe plurality of users; and for each of the active connectable virtualobjects, generating a preview of the active connectable virtual objectsconnected to corresponding target connectable virtual objects.
 18. Themethod of claim 14, wherein the one or more target connectable virtualobjects includes at least one virtual object and at least one virtualrepresentation of a real-world object.